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a/libero_goal/T0/6a62e24ac6144f23ac66e9d875ebb443/20260502_114652_smolvla/20260502_114804_goal/run_config.json b/libero_goal/T0/6a62e24ac6144f23ac66e9d875ebb443/20260502_114652_smolvla/20260502_114804_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7f84803e9f4faaafec3b988525f8ccc6b09d966e --- /dev/null +++ b/libero_goal/T0/6a62e24ac6144f23ac66e9d875ebb443/20260502_114652_smolvla/20260502_114804_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/d12a00c763f24fac890835796c5ee6da/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T0/d12a00c763f24fac890835796c5ee6da/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=0 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/f7dfaad0e7c44e2c908e105a72a98a30/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T0/f7dfaad0e7c44e2c908e105a72a98a30/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=0 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/196c2b805eff4490ae0dabe39a88826b/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T1/196c2b805eff4490ae0dabe39a88826b/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=1 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": 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a/libero_goal/T1/3968b4a400fb4d69846f5dbba5bb729e/20260502_114652_smolvla/20260502_114805_goal/run_config.json b/libero_goal/T1/3968b4a400fb4d69846f5dbba5bb729e/20260502_114652_smolvla/20260502_114805_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..78802610268fe35fd74d64523b2f7eb81aa697ca --- /dev/null +++ b/libero_goal/T1/3968b4a400fb4d69846f5dbba5bb729e/20260502_114652_smolvla/20260502_114805_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/97ae5b23801e4fbcbc5473793dea6ef4/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T1/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=1 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/079ef061590f4741bd98bd9b83729903/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T2/079ef061590f4741bd98bd9b83729903/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=2 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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+ }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + 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--noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/fdbc3d09a1ff4646b56fa1e7f65177c6/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T2/fdbc3d09a1ff4646b56fa1e7f65177c6/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=2 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + 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a/libero_goal/T3/88fd71b5ada045d69b4b1c743dd8ff68/20260502_114652_smolvla/20260502_121505_goal/initial_noise.pt b/libero_goal/T3/88fd71b5ada045d69b4b1c743dd8ff68/20260502_114652_smolvla/20260502_121505_goal/initial_noise.pt new file mode 100644 index 0000000000000000000000000000000000000000..431ce65c55c8fd15899b604afe0fb314fe24a5ca --- /dev/null +++ b/libero_goal/T3/88fd71b5ada045d69b4b1c743dd8ff68/20260502_114652_smolvla/20260502_121505_goal/initial_noise.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:447d5dff15a1f1e3bbb89cbf6045aaa6a432dc3e60eb250dbeacd44bd9266d51 +size 8019 diff --git a/libero_goal/T3/88fd71b5ada045d69b4b1c743dd8ff68/20260502_114652_smolvla/20260502_121505_goal/run_config.json b/libero_goal/T3/88fd71b5ada045d69b4b1c743dd8ff68/20260502_114652_smolvla/20260502_121505_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..00696cbe76c621e3154028824f201aa71f2a46c2 --- /dev/null +++ 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/8bfdafc0ed0e49a28e527833fec8cc50/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T3/8bfdafc0ed0e49a28e527833fec8cc50/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=3 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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a/libero_goal/T3/9983c3914cec4e0f8e118c0e55613e6c/20260502_114652_smolvla/20260502_121323_goal/run_config.json b/libero_goal/T3/9983c3914cec4e0f8e118c0e55613e6c/20260502_114652_smolvla/20260502_121323_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4b669986525675bd766a4ff9a9478029d7db2d8b --- /dev/null +++ b/libero_goal/T3/9983c3914cec4e0f8e118c0e55613e6c/20260502_114652_smolvla/20260502_121323_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET 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+ }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + 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+ "chunk_size": 50, + "n_action_steps": 1, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 0, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "longest", + "num_expert_layers": 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/0232eb2c4eaf4e5892d70f96d3ba20bb/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T4/0232eb2c4eaf4e5892d70f96d3ba20bb/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=4 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/3968b4a400fb4d69846f5dbba5bb729e/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T4/3968b4a400fb4d69846f5dbba5bb729e/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=4 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/6a62e24ac6144f23ac66e9d875ebb443/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T4/6a62e24ac6144f23ac66e9d875ebb443/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=4 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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b/libero_goal/T4/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_125934_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/97ae5b23801e4fbcbc5473793dea6ef4/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T4/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=4 --max_episodes_rendered=55", + "config_path": 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/9983c3914cec4e0f8e118c0e55613e6c/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T4/9983c3914cec4e0f8e118c0e55613e6c/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=4 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/3cab7671f0784de8a1392a9e5ba92845/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T5/3cab7671f0784de8a1392a9e5ba92845/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=5 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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0000000000000000000000000000000000000000..c18edeb5b851b4b388127e163b9092b8220a6d67 --- /dev/null +++ b/libero_goal/T5/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_134832_goal/initial_noise.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b7406b503acce54898c0ab9d7e3287e5f9a1ba2a81c87c20c208912419fdf3b +size 8019 diff --git a/libero_goal/T5/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_134832_goal/run_config.json b/libero_goal/T5/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_134832_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3efe5dc5d49ff938374d79edb8f0ce11f0080ac8 --- /dev/null +++ b/libero_goal/T5/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_134832_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/97ae5b23801e4fbcbc5473793dea6ef4/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T5/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=5 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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a/libero_goal/T5/b06019d6cedb42b684bdcb09cf891ca9/20260502_114652_smolvla/20260502_134654_goal/run_config.json b/libero_goal/T5/b06019d6cedb42b684bdcb09cf891ca9/20260502_114652_smolvla/20260502_134654_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a60124f4840e95d9bb731ea4b3baee6387582012 --- /dev/null +++ b/libero_goal/T5/b06019d6cedb42b684bdcb09cf891ca9/20260502_114652_smolvla/20260502_134654_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/de0474dac86e41209ab6fb7744a0e12f/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T5/de0474dac86e41209ab6fb7744a0e12f/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=5 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/491eea40d1394bd5b58fc0a4e133cda9/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T6/491eea40d1394bd5b58fc0a4e133cda9/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=6 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/97ae5b23801e4fbcbc5473793dea6ef4/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T6/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=6 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + "disable_env_checker": true, + "episode_length": null, + "obs_type": "pixels_agent_pos", + "render_mode": "rgb_array", + "camera_name": "agentview_image,robot0_eye_in_hand_image", + "init_states": true, + "camera_name_mapping": null, + "observation_height": 360, + "observation_width": 360, + "control_mode": "relative" + }, + "eval": { + "n_episodes": 50, + "batch_size": 1, + "use_async_envs": false + }, + "policy": { + "n_obs_steps": 1, + "input_features": { + "observation.images.image": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.image2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 8 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "None", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "HuggingFaceVLA/smolvla_libero", + "chunk_size": 50, + "n_action_steps": 1, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 0, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + 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a/libero_goal/T6/aa154161e44b4046b7c7aa3817867005/20260502_114652_smolvla/20260502_130220_goal/run_config.json b/libero_goal/T6/aa154161e44b4046b7c7aa3817867005/20260502_114652_smolvla/20260502_130220_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..314cf65a163c94544562ae063c7ca7abc0d30e6a --- /dev/null +++ b/libero_goal/T6/aa154161e44b4046b7c7aa3817867005/20260502_114652_smolvla/20260502_130220_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/aa154161e44b4046b7c7aa3817867005/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T6/aa154161e44b4046b7c7aa3817867005/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=6 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + "disable_env_checker": true, + "episode_length": null, + "obs_type": "pixels_agent_pos", + "render_mode": "rgb_array", + "camera_name": "agentview_image,robot0_eye_in_hand_image", + "init_states": true, + "camera_name_mapping": null, + "observation_height": 360, + "observation_width": 360, + "control_mode": "relative" + }, + "eval": { + "n_episodes": 50, + "batch_size": 1, + "use_async_envs": false + }, + "policy": { + "n_obs_steps": 1, + "input_features": { + "observation.images.image": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.images.image2": { + "type": "VISUAL", + "shape": [ + 3, + 256, + 256 + ] + }, + "observation.state": { + "type": "STATE", + "shape": [ + 8 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + } + }, + "device": "cuda", + "use_amp": false, + "push_to_hub": true, + "repo_id": "None", + "private": null, + "tags": null, + "license": null, + "pretrained_path": "HuggingFaceVLA/smolvla_libero", + "chunk_size": 50, + "n_action_steps": 1, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 0, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 0, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.5, + "min_period": 0.004, + "max_period": 4.0, + "rtc_config": null + }, + "output_dir": "/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T6/aa154161e44b4046b7c7aa3817867005/20260502_114652_smolvla", + "job_name": "libero_smolvla", + "seed": 100000, + "rename_map": {}, + "eval_mode": "EvalMode.LOAD_TICKET", + "noise_path": "/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/aa154161e44b4046b7c7aa3817867005/initial_noise.pt", + "encoder_ckpt_path": null, + "golden_config_path": null, + "gallery_dataset_path": null, + "retrieval_step_interval": null, + "ticket_select_mode": "majority", + "majority_forgive_threshold": 0.5, + "candidate_method": "none", + "candidate_threshold": 0.2, + "candidate_max_ratio": 0.3, + "n_voter": 10, + "vote_similarity_function": "cos_sim", + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/e5e63df1b69a4cda930d3b35dd5a08e0/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T6/e5e63df1b69a4cda930d3b35dd5a08e0/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=6 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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b/libero_goal/T6/fdbc3d09a1ff4646b56fa1e7f65177c6/20260502_114652_smolvla/20260502_124455_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/fdbc3d09a1ff4646b56fa1e7f65177c6/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T6/fdbc3d09a1ff4646b56fa1e7f65177c6/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=6 --max_episodes_rendered=55", + "config_path": 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/0232eb2c4eaf4e5892d70f96d3ba20bb/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T7/0232eb2c4eaf4e5892d70f96d3ba20bb/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=7 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": 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0000000000000000000000000000000000000000..8466e92c053421a6630a04f1f4e7ca47bff8a9d4 --- /dev/null +++ b/libero_goal/T7/491eea40d1394bd5b58fc0a4e133cda9/20260502_114652_smolvla/20260502_134248_goal/initial_noise.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c982d8796d5c364689ccc310d7b75766daeb9ebce501110e74fa67a043dc4579 +size 8019 diff --git a/libero_goal/T7/491eea40d1394bd5b58fc0a4e133cda9/20260502_114652_smolvla/20260502_134248_goal/run_config.json b/libero_goal/T7/491eea40d1394bd5b58fc0a4e133cda9/20260502_114652_smolvla/20260502_134248_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ddefd64bab6f74b7f02a963039bf8d0b5768eace --- /dev/null +++ b/libero_goal/T7/491eea40d1394bd5b58fc0a4e133cda9/20260502_114652_smolvla/20260502_134248_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/8bfdafc0ed0e49a28e527833fec8cc50/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T7/8bfdafc0ed0e49a28e527833fec8cc50/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=7 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": 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a/libero_goal/T7/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_142256_goal/run_config.json b/libero_goal/T7/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_142256_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..77d75f0cafa13f0e1382077ef19e44187def4c87 --- /dev/null +++ b/libero_goal/T7/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla/20260502_142256_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/97ae5b23801e4fbcbc5473793dea6ef4/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T7/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=7 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + 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+ "chunk_size": 50, + "n_action_steps": 1, + "normalization_mapping": { + "VISUAL": "IDENTITY", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "max_state_dim": 32, + "max_action_dim": 32, + "resize_imgs_with_padding": [ + 512, + 512 + ], + "empty_cameras": 0, + "adapt_to_pi_aloha": false, + "use_delta_joint_actions_aloha": false, + "tokenizer_max_length": 48, + "num_steps": 10, + "use_cache": true, + "freeze_vision_encoder": true, + "train_expert_only": true, + "train_state_proj": true, + "optimizer_lr": 0.0001, + "optimizer_betas": [ + 0.9, + 0.95 + ], + "optimizer_eps": 1e-08, + "optimizer_weight_decay": 1e-10, + "optimizer_grad_clip_norm": 10.0, + "scheduler_warmup_steps": 1000, + "scheduler_decay_steps": 30000, + "scheduler_decay_lr": 2.5e-06, + "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Instruct", + "load_vlm_weights": true, + "add_image_special_tokens": false, + "attention_mode": "cross_attn", + "prefix_length": 0, + "pad_language_to": "longest", + "num_expert_layers": -1, + "num_vlm_layers": 0, + "self_attn_every_n_layers": 2, + "expert_width_multiplier": 0.5, + "min_period": 0.004, + "max_period": 4.0, + "rtc_config": null + }, + "output_dir": "/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T7/97ae5b23801e4fbcbc5473793dea6ef4/20260502_114652_smolvla", + "job_name": "libero_smolvla", + "seed": 100000, + "rename_map": {}, + "eval_mode": "EvalMode.LOAD_TICKET", + "noise_path": "/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/97ae5b23801e4fbcbc5473793dea6ef4/initial_noise.pt", + "encoder_ckpt_path": null, + "golden_config_path": null, + "gallery_dataset_path": null, + "retrieval_step_interval": null, + "ticket_select_mode": "majority", + "majority_forgive_threshold": 0.5, + "candidate_method": "none", + "candidate_threshold": 0.2, + "candidate_max_ratio": 0.3, + "n_voter": 10, + "vote_similarity_function": "cos_sim", + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/c5678d170ea846e4bc4286e9ebd686e7/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T7/c5678d170ea846e4bc4286e9ebd686e7/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=7 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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a/libero_goal/T8/079ef061590f4741bd98bd9b83729903/20260502_114652_smolvla/20260502_143453_goal/run_config.json b/libero_goal/T8/079ef061590f4741bd98bd9b83729903/20260502_114652_smolvla/20260502_143453_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d32da7577844b315164fd8d50d2be6b8ec81bc3a --- /dev/null +++ b/libero_goal/T8/079ef061590f4741bd98bd9b83729903/20260502_114652_smolvla/20260502_143453_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/3968b4a400fb4d69846f5dbba5bb729e/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T8/3968b4a400fb4d69846f5dbba5bb729e/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=8 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/6a62e24ac6144f23ac66e9d875ebb443/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T8/6a62e24ac6144f23ac66e9d875ebb443/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=8 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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0000000000000000000000000000000000000000..926c27c34676f84aea8afa6166e44bbaad3722b4 --- /dev/null +++ b/libero_goal/T9/0bfd9148e7684437a35b9c03029e79b1/20260502_114652_smolvla/20260502_133232_goal/initial_noise.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab18d897b2729c3c5b9731b956d27697f72a01cd5087fe0b20b7e920ecae3cb3 +size 8019 diff --git a/libero_goal/T9/0bfd9148e7684437a35b9c03029e79b1/20260502_114652_smolvla/20260502_133232_goal/run_config.json b/libero_goal/T9/0bfd9148e7684437a35b9c03029e79b1/20260502_114652_smolvla/20260502_133232_goal/run_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ff06c3aa093cb153080414efb0164c2962e59921 --- /dev/null +++ b/libero_goal/T9/0bfd9148e7684437a35b9c03029e79b1/20260502_114652_smolvla/20260502_133232_goal/run_config.json @@ -0,0 +1,223 @@ +{ + "command": "evaluate_retrieval.py --policy.path=HuggingFaceVLA/smolvla_libero --env.type=libero --env.task=libero_goal --eval.batch_size=1 --eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/0bfd9148e7684437a35b9c03029e79b1/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T9/0bfd9148e7684437a35b9c03029e79b1/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=9 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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--noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/3968b4a400fb4d69846f5dbba5bb729e/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T9/3968b4a400fb4d69846f5dbba5bb729e/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=9 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "pixels/robot0_eye_in_hand_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + "robot_state/eef/pos": { + "type": "STATE", + "shape": [ + 3 + ] + }, + "robot_state/eef/quat": { + "type": "STATE", + "shape": [ + 4 + ] + }, + "robot_state/eef/mat": { + "type": "STATE", + "shape": [ + 3, + 3 + ] + }, + "robot_state/gripper/qpos": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/gripper/qvel": { + "type": "STATE", + "shape": [ + 2 + ] + }, + "robot_state/joints/pos": { + "type": "STATE", + "shape": [ + 7 + ] + }, + "robot_state/joints/vel": { + "type": "STATE", + "shape": [ + 7 + ] + } + }, + "features_map": { + "action": "action", + "robot_state/eef/pos": "observation.state.eef_pos", + "robot_state/eef/quat": "observation.state.eef_quat", + "robot_state/eef/mat": "observation.state.eef_mat", + "robot_state/gripper/qpos": "observation.state.gripper_qpos", + "robot_state/gripper/qvel": "observation.state.gripper_qvel", + "robot_state/joints/pos": "observation.state.joint_pos", + "robot_state/joints/vel": "observation.state.joint_vel", + "pixels/agentview_image": "observation.images.image", + "pixels/robot0_eye_in_hand_image": "observation.images.image2" + }, + "max_parallel_tasks": 1, + 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--eval.n_episodes=50 --seed=100000 --output_dir=outputs/eval_smolvla_top5/basic/libero_goal/PLACEHOLDER --max_episodes_rendered=1000 --eval_mode=LOAD_TICKET --noise_path=PLACEHOLDER --eval_mode=LOAD_TICKET --noise_path=/workspace/retrieval_tickets/smolvla_libero/golden_configs/smolvla_top10_per_task_basic2/libero_goal/selected_tickets/6fbdc47fd2314576b7c053942ffe50af/initial_noise.pt --output_dir=/workspace/retrieval_tickets/smolvla_libero/outputs/eval_smolvla_top10_per_task_basic2/libero_goal/T9/6fbdc47fd2314576b7c053942ffe50af/20260502_114652_smolvla --eval.n_episodes=50 --seed=100000 --task_id=9 --max_episodes_rendered=55", + "config_path": "/workspace/retrieval_tickets/smolvla_libero/configs/ticket_evaluate_top5/goal.jsonc", + "config": { + "env": { + "task": "libero_goal", + "fps": 30, + "features": { + "action": { + "type": "ACTION", + "shape": [ + 7 + ] + }, + "pixels/agentview_image": { + "type": "VISUAL", + "shape": [ + 360, + 360, + 3 + ] + }, + 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