diff --git a/cascaded_focus50_full_eval_20260807T163122Z/eval.log b/cascaded_focus50_full_eval_20260807T163122Z/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..daafa1e26cb5c280c5618e721ff32bda8cd1d6b1 --- /dev/null +++ b/cascaded_focus50_full_eval_20260807T163122Z/eval.log @@ -0,0 +1,22228 @@ +nohup: ignoring input +INFO 2026-08-07 16:31:27 bot_eval.py:741 {'env': {'camera_name': 'agentview_image,robot0_eye_in_hand_image', + 'camera_name_mapping': None, + 'control_mode': 'relative', + 'disable_env_checker': True, + 'episode_length': None, + 'features': {'action': {'shape': (7,), + 'type': }, + 'pixels/agentview_image': {'shape': (360, 360, 3), + 'type': }, + 'pixels/robot0_eye_in_hand_image': {'shape': (360, + 360, + 3), + 'type': }, + 'robot_state/eef/mat': {'shape': (3, 3), + 'type': }, + 'robot_state/eef/pos': {'shape': (3,), + 'type': }, + 'robot_state/eef/quat': {'shape': (4,), + 'type': }, + 'robot_state/gripper/qpos': {'shape': (2,), + 'type': }, + 'robot_state/gripper/qvel': {'shape': (2,), + 'type': }, + 'robot_state/joints/pos': {'shape': (7,), + 'type': }, + 'robot_state/joints/vel': {'shape': (7,), + 'type': }}, + 'features_map': {'action': 'action', + 'pixels/agentview_image': 'observation.images.image', + 'pixels/robot0_eye_in_hand_image': 'observation.images.image2', + 'robot_state/eef/mat': 'observation.state.eef_mat', + 'robot_state/eef/pos': 'observation.state.eef_pos', + 'robot_state/eef/quat': 'observation.state.eef_quat', + 'robot_state/gripper/qpos': 'observation.state.gripper_qpos', + 'robot_state/gripper/qvel': 'observation.state.gripper_qvel', + 'robot_state/joints/pos': 'observation.state.joint_pos', + 'robot_state/joints/vel': 'observation.state.joint_vel'}, + 'fps': 20, + 'hard_reset': True, + 'init_states': True, + 'is_libero_plus': False, + 'max_parallel_tasks': 1, + 'obs_type': 'pixels_agent_pos', + 'observation_height': 360, + 'observation_width': 360, + 'render_mode': 'rgb_array', + 'task': 'libero_10,libero_object,libero_goal,libero_spatial', + 'task_ids': None}, + 'eval': {'batch_size': 10, + 'n_episodes': 10, + 'recording': False, + 'recording_private': False, + 'recording_repo_id': None, + 'use_async_envs': True}, + 'job_name': 'cascaded_focus50_seed1000_100k_full_eval', + 'output_dir': PosixPath('experiments/focus_token/results/cascaded_focus50_full_eval_20260807T163122Z'), + 'policy': {'adapt_to_pi_aloha': False, + 'add_image_special_tokens': False, + 'attention_mode': 'cross_attn', + 'chunk_size': 50, + 'compile_mode': 'max-autotune', + 'compile_model': False, + 'device': 'cuda', + 'empty_cameras': 0, + 'expert_width_multiplier': 0.75, + 'focus_cascaded_attention': True, + 'focus_channel_gate': True, + 'focus_token_diagnostics_path': None, + 'focus_token_keep_ratio': 0.5, + 'focus_token_start_layer': 8, + 'freeze_vision_encoder': True, + 'input_features': {'observation.images.image': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.images.image2': {'shape': (3, + 256, + 256), + 'type': }, + 'observation.state': {'shape': (8,), + 'type': }}, + 'license': None, + 'load_vlm_weights': True, + 'max_action_dim': 32, + 'max_period': 4.0, + 'max_state_dim': 32, + 'min_period': 0.004, + 'n_action_steps': 50, + 'n_obs_steps': 1, + 'normalization_mapping': {'ACTION': , + 'STATE': , + 'VISUAL': }, + 'num_expert_layers': -1, + 'num_steps': 10, + 'num_vlm_layers': 16, + 'optimizer_betas': (0.9, 0.95), + 'optimizer_eps': 1e-08, + 'optimizer_grad_clip_norm': 10.0, + 'optimizer_lr': 0.0001, + 'optimizer_weight_decay': 1e-10, + 'output_features': {'action': {'shape': (7,), + 'type': }}, + 'pad_language_to': 'longest', + 'prefix_length': -1, + 'pretrained_path': PosixPath('/focus/visual-token-reduction/experiments/focus_token/results/20260807T034113Z_cascaded_focus50_seed_1000_100k/train/checkpoints/100000/pretrained_model'), + 'pretrained_revision': None, + 'private': None, + 'push_to_hub': False, + 'repo_id': None, + 'resize_imgs_with_padding': (512, 512), + 'rtc_config': None, + 'scheduler_decay_lr': 2.5e-06, + 'scheduler_decay_steps': 100000, + 'scheduler_warmup_steps': 1000, + 'self_attn_every_n_layers': 2, + 'tags': None, + 'tokenizer_max_length': 48, + 'train_expert_only': True, + 'train_state_proj': True, + 'use_amp': False, + 'use_cache': True, + 'use_delta_joint_actions_aloha': False, + 'use_peft': False, + 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct'}, + 'rename_map': {}, + 'seed': 0, + 'trust_remote_code': False} +INFO 2026-08-07 16:31:27 bot_eval.py:750 Output dir: experiments/focus_token/results/cascaded_focus50_full_eval_20260807T163122Z +INFO 2026-08-07 16:31:27 bot_eval.py:752 Making environment (batch_size=10, async=True). +[robosuite WARNING] No private macro file found! (__init__.py:7) +WARNING 2026-08-07 16:31:27 e/__init__.py:7 No private macro file found! +[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8) +WARNING 2026-08-07 16:31:27 e/__init__.py:8 It is recommended to use a private macro file +[robosuite WARNING] To setup, run: python /focus/visual-token-reduction/.venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9) +WARNING 2026-08-07 16:31:27 e/__init__.py:9 To setup, run: python /focus/visual-token-reduction/.venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py +INFO 2026-08-07 16:31:27 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +INFO 2026-08-07 16:31:28 bot_eval.py:760 Making policy. +`torch_dtype` is deprecated! Use `dtype` instead! +Creating LIBERO envs | suites=['libero_10', 'libero_object', 'libero_goal', 'libero_spatial'] | n_envs(per task)=10 | init_states=True +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_10 | task_id=0 | n_envs=10 +Built vec env | suite=libero_10 | task_id=1 | n_envs=10 +Built vec env | suite=libero_10 | task_id=2 | n_envs=10 +Built vec env | suite=libero_10 | task_id=3 | n_envs=10 +Built vec env | suite=libero_10 | task_id=4 | n_envs=10 +Built vec env | suite=libero_10 | task_id=5 | n_envs=10 +Built vec env | suite=libero_10 | task_id=6 | n_envs=10 +Built vec env | suite=libero_10 | task_id=7 | n_envs=10 +Built vec env | suite=libero_10 | task_id=8 | n_envs=10 +Built vec env | suite=libero_10 | task_id=9 | n_envs=10 +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_object | task_id=0 | n_envs=10 +Built vec env | suite=libero_object | task_id=1 | n_envs=10 +Built vec env | suite=libero_object | task_id=2 | n_envs=10 +Built vec env | suite=libero_object | task_id=3 | n_envs=10 +Built vec env | suite=libero_object | task_id=4 | n_envs=10 +Built vec env | suite=libero_object | task_id=5 | n_envs=10 +Built vec env | suite=libero_object | task_id=6 | n_envs=10 +Built vec env | suite=libero_object | task_id=7 | n_envs=10 +Built vec env | suite=libero_object | task_id=8 | n_envs=10 +Built vec env | suite=libero_object | task_id=9 | n_envs=10 +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_goal | task_id=0 | n_envs=10 +Built vec env | suite=libero_goal | task_id=1 | n_envs=10 +Built vec env | suite=libero_goal | task_id=2 | n_envs=10 +Built vec env | suite=libero_goal | task_id=3 | n_envs=10 +Built vec env | suite=libero_goal | task_id=4 | n_envs=10 +Built vec env | suite=libero_goal | task_id=5 | n_envs=10 +Built vec env | suite=libero_goal | task_id=6 | n_envs=10 +Built vec env | suite=libero_goal | task_id=7 | n_envs=10 +Built vec env | suite=libero_goal | task_id=8 | n_envs=10 +Built vec env | suite=libero_goal | task_id=9 | n_envs=10 +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] +Built vec env | suite=libero_spatial | task_id=0 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=1 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=2 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=3 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=4 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=5 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=6 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=7 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=8 | n_envs=10 +Built vec env | suite=libero_spatial | task_id=9 | n_envs=10 +Loading HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ... + Loading weights: 0%| | 0/489 [00:00