Upload folder using huggingface_hub (part 14)

focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval.log

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+INFO 2026-08-11 05:54:44 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': <FeatureType.ACTION: 'ACTION'>},
+                      'pixels/agentview_image': {'shape': (360, 360, 3),
+                                                 'type': <FeatureType.VISUAL: 'VISUAL'>},
+                      'pixels/robot0_eye_in_hand_image': {'shape': (360,
+                                                                    360,
+                                                                    3),
+                                                          'type': <FeatureType.VISUAL: 'VISUAL'>},
+                      'robot_state/eef/mat': {'shape': (3, 3),
+                                              'type': <FeatureType.STATE: 'STATE'>},
+                      'robot_state/eef/pos': {'shape': (3,),
+                                              'type': <FeatureType.STATE: 'STATE'>},
+                      'robot_state/eef/quat': {'shape': (4,),
+                                               'type': <FeatureType.STATE: 'STATE'>},
+                      'robot_state/gripper/qpos': {'shape': (2,),
+                                                   'type': <FeatureType.STATE: 'STATE'>},
+                      'robot_state/gripper/qvel': {'shape': (2,),
+                                                   'type': <FeatureType.STATE: 'STATE'>},
+                      'robot_state/joints/pos': {'shape': (7,),
+                                                 'type': <FeatureType.STATE: 'STATE'>},
+                      'robot_state/joints/vel': {'shape': (7,),
+                                                 'type': <FeatureType.STATE: 'STATE'>}},
+         '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_object',
+         'task_ids': [8]},
+ 'eval': {'batch_size': 3,
+          'n_episodes': 3,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'job_name': 'attention_heatmap_vanilla_libero_object_8',
+ 'output_dir': PosixPath('experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval'),
+ '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': False,
+            'focus_channel_gate': False,
+            'focus_token_diagnostics_path': 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/attention.jsonl',
+            'focus_token_keep_ratio': 1.0,
+            'focus_token_start_layer': 8,
+            'freeze_vision_encoder': True,
+            'input_features': {'observation.images.image': {'shape': (3,
+                                                                      256,
+                                                                      256),
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.image2': {'shape': (3,
+                                                                       256,
+                                                                       256),
+                                                             'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': (8,),
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            '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': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
+                                      'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            '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': <FeatureType.ACTION: 'ACTION'>}},
+            'pad_language_to': 'longest',
+            'prefix_length': -1,
+            'pretrained_path': PosixPath('sungkyunner/smolvla_libero_baseline'),
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': True,
+            'repo_id': 'sungkyunner/smolvla_libero_baseline',
+            '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 2026-08-11 05:54:44 bot_eval.py:750 Output dir: experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval
+INFO 2026-08-11 05:54:44 bot_eval.py:752 Making environment (batch_size=3, async=True).
+[robosuite WARNING] No private macro file found! (__init__.py:7)
+WARNING 2026-08-11 05:54:44 e/__init__.py:7 No private macro file found!
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+WARNING 2026-08-11 05:54:44 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 2026-08-11 05:54:44 e/__init__.py:9 To setup, run: python /focus/visual-token-reduction/.venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py
+INFO 2026-08-11 05:54:44 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+INFO 2026-08-11 05:54:45 bot_eval.py:760 Making policy.
+`torch_dtype` is deprecated! Use `dtype` instead!
+Creating LIBERO envs | suites=['libero_object'] | n_envs(per task)=3 | init_states=True
+Restricting to task_ids=[8]
+[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+Built vec env | suite=libero_object | task_id=8 | n_envs=3
+Loading  HuggingFaceTB/SmolVLM2-500M-Video-Instruct weights ...
+
+Reducing the number of VLM layers to 16 ...
+
+WARNING:robosuite_logs:No private macro file found!
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+WARNING:robosuite_logs: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:robosuite_logs:To setup, run: python /focus/visual-token-reduction/.venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py
+[robosuite WARNING] No private macro file found! (__init__.py:7)
+WARNING:robosuite_logs:No private macro file found!
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+WARNING:robosuite_logs: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:robosuite_logs:To setup, run: python /focus/visual-token-reduction/.venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py
+[robosuite WARNING] No private macro file found! (__init__.py:7)
+WARNING:robosuite_logs:No private macro file found!
+[robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
+WARNING:robosuite_logs: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:robosuite_logs:To setup, run: python /focus/visual-token-reduction/.venv/lib/python3.12/site-packages/robosuite/scripts/setup_macros.py
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+Local assets not found. Downloading from HuggingFace Hub...
+Assets already downloaded at /root/.cache/libero/assets
+Local assets not found. Downloading from HuggingFace Hub...
+Assets already downloaded at /root/.cache/libero/assets
+Local assets not found. Downloading from HuggingFace Hub...
+Assets already downloaded at /root/.cache/libero/assets
+INFO 2026-08-11 05:55:26 bot_eval.py:808 Overall Aggregated Metrics:
+INFO 2026-08-11 05:55:26 bot_eval.py:809 {'avg_sum_reward': 0.6666666666666666, 'avg_max_reward': 0.6666666666666666, 'pc_success': 66.66666666666666, 'n_episodes': 3, 'eval_s': 27.986356735229492, 'eval_ep_s': 9.32878573735555, 'video_paths': ['experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4'], 'predicted_video_paths': []}
+INFO 2026-08-11 05:55:26 bot_eval.py:813 
+Aggregated Metrics for per_task:
+INFO 2026-08-11 05:55:26 bot_eval.py:814 [{'task_group': 'libero_object', 'task_id': 8, 'metrics': {'sum_rewards': [0.0, 1.0, 1.0], 'max_rewards': [0.0, 1.0, 1.0], 'successes': [False, True, True], 'video_paths': ['experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4'], 'predicted_video_paths': []}}]
+INFO 2026-08-11 05:55:26 bot_eval.py:813 
+Aggregated Metrics for per_group:
+INFO 2026-08-11 05:55:26 bot_eval.py:814 {'libero_object': {'avg_sum_reward': 0.6666666666666666, 'avg_max_reward': 0.6666666666666666, 'pc_success': 66.66666666666666, 'n_episodes': 3, 'video_paths': ['experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4'], 'predicted_video_paths': []}}
+INFO 2026-08-11 05:55:26 bot_eval.py:813 
+Aggregated Metrics for overall:
+INFO 2026-08-11 05:55:26 bot_eval.py:814 {'avg_sum_reward': 0.6666666666666666, 'avg_max_reward': 0.6666666666666666, 'pc_success': 66.66666666666666, 'n_episodes': 3, 'eval_s': 27.986356735229492, 'eval_ep_s': 9.32878573735555, 'video_paths': ['experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4', 'experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4'], 'predicted_video_paths': []}
+INFO 2026-08-11 05:55:26 bot_eval.py:822 End of eval

focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/eval_info.json

@@ -0,0 +1,59 @@
+{
+  "per_task": [
+    {
+      "task_group": "libero_object",
+      "task_id": 8,
+      "metrics": {
+        "sum_rewards": [
+          0.0,
+          1.0,
+          1.0
+        ],
+        "max_rewards": [
+          0.0,
+          1.0,
+          1.0
+        ],
+        "successes": [
+          false,
+          true,
+          true
+        ],
+        "video_paths": [
+          "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4",
+          "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4",
+          "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4"
+        ],
+        "predicted_video_paths": []
+      }
+    }
+  ],
+  "per_group": {
+    "libero_object": {
+      "avg_sum_reward": 0.6666666666666666,
+      "avg_max_reward": 0.6666666666666666,
+      "pc_success": 66.66666666666666,
+      "n_episodes": 3,
+      "video_paths": [
+        "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4",
+        "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4",
+        "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4"
+      ],
+      "predicted_video_paths": []
+    }
+  },
+  "overall": {
+    "avg_sum_reward": 0.6666666666666666,
+    "avg_max_reward": 0.6666666666666666,
+    "pc_success": 66.66666666666666,
+    "n_episodes": 3,
+    "eval_s": 27.986356735229492,
+    "eval_ep_s": 9.32878573735555,
+    "video_paths": [
+      "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4",
+      "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4",
+      "experiments/focus_token/results/focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4"
+    ],
+    "predicted_video_paths": []
+  }
+}

focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_0.mp4

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focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_1.mp4

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focus_comparison_20260811T033405Z/heatmaps/vanilla/libero_object/task_8/eval/videos/libero_object_8/eval_episode_2.mp4

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