diff --git "a/a100day/logs/log.txt" "b/a100day/logs/log.txt" new file mode 100644--- /dev/null +++ "b/a100day/logs/log.txt" @@ -0,0 +1,867 @@ +04/28/2025 18:15:09 - INFO - __main__ - Model: nweights 17649632 nparams 572 +04/28/2025 18:15:09 - INFO - __main__ - Model: trainable nweights 17649632 nparams 572 +04/28/2025 18:15:09 - INFO - __main__ - ***** Running training with 1 GPUs ***** +04/28/2025 18:15:09 - INFO - __main__ - Batch size = 100 +04/28/2025 18:15:09 - INFO - __main__ - Accumulate steps = 1 +04/28/2025 18:15:09 - INFO - __main__ - Num steps = 95200 +04/28/2025 18:22:22 - INFO - __main__ - ==============Epoch 4 Step 500=============== +04/28/2025 18:22:22 - INFO - __main__ - loss_pos:0.4992, loss_rot:2.6121, loss_open:0.6566, loss_total:13.2531 +04/28/2025 18:22:22 - INFO - __main__ - =============================================== +04/28/2025 18:29:15 - INFO - __main__ - ==============Epoch 8 Step 1000=============== +04/28/2025 18:29:15 - INFO - __main__ - loss_pos:0.3219, loss_rot:1.8891, loss_open:0.3267, loss_total:8.6536 +04/28/2025 18:29:15 - INFO - __main__ - =============================================== +04/28/2025 18:29:47 - INFO - __main__ - =================Validation================= +04/28/2025 18:29:47 - INFO - __main__ - total/pos_l2_err: 0.1786, total/quat_l1_err: 1.1823, total/quat_l1_ideal_err: 1.1822, total/open_acc: 0.8960, total/open_acc_ideal: 0.8960, total/pos_acc_0.01: 0.0010, total/rot_acc_0.025: 0.0230, total/rot_acc_0.05: 0.0440, total/rot_ideal_acc_0.025: 0.0230, total/rot_ideal_acc_0.05: 0.0440, per_task/close_jar_pos_l2_err: 0.1487, per_task/close_jar_quat_l1_err: 0.3453, per_task/close_jar_quat_l1_ideal_err: 0.3453, per_task/close_jar_pos_acc_0.01: 0.0000, per_task/close_jar_rot_acc_0.025: 0.0943, per_task/close_jar_rot_acc_0.05: 0.1321, per_task/close_jar_rot_ideal_acc_0.025: 0.0943, per_task/close_jar_rot_ideal_acc_0.05: 0.1321, per_task/close_jar_open_acc: 0.8491, per_task/close_jar_open_acc_ideal: 0.8491, per_task/insert_onto_square_peg_pos_l2_err: 0.1672, per_task/insert_onto_square_peg_quat_l1_err: 1.0851, per_task/insert_onto_square_peg_quat_l1_ideal_err: 1.0851, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.0000, per_task/insert_onto_square_peg_rot_acc_0.05: 0.0000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.0000, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.0000, per_task/insert_onto_square_peg_open_acc: 0.7857, per_task/insert_onto_square_peg_open_acc_ideal: 0.7857, per_task/light_bulb_in_pos_l2_err: 0.1711, per_task/light_bulb_in_quat_l1_err: 1.2590, per_task/light_bulb_in_quat_l1_ideal_err: 1.2590, per_task/light_bulb_in_pos_acc_0.01: 0.0204, per_task/light_bulb_in_rot_acc_0.025: 0.0612, per_task/light_bulb_in_rot_acc_0.05: 0.0612, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.0612, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.0612, per_task/light_bulb_in_open_acc: 0.9184, per_task/light_bulb_in_open_acc_ideal: 0.9184, per_task/meat_off_grill_pos_l2_err: 0.1712, per_task/meat_off_grill_quat_l1_err: 0.8103, per_task/meat_off_grill_quat_l1_ideal_err: 0.8122, per_task/meat_off_grill_pos_acc_0.01: 0.0000, per_task/meat_off_grill_rot_acc_0.025: 0.0571, per_task/meat_off_grill_rot_acc_0.05: 0.2000, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.0571, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.2000, per_task/meat_off_grill_open_acc: 0.8000, per_task/meat_off_grill_open_acc_ideal: 0.8000, per_task/open_drawer_pos_l2_err: 0.1607, per_task/open_drawer_quat_l1_err: 1.8207, per_task/open_drawer_quat_l1_ideal_err: 1.8207, per_task/open_drawer_pos_acc_0.01: 0.0000, per_task/open_drawer_rot_acc_0.025: 0.0000, per_task/open_drawer_rot_acc_0.05: 0.0000, per_task/open_drawer_rot_ideal_acc_0.025: 0.0000, per_task/open_drawer_rot_ideal_acc_0.05: 0.0000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.1849, per_task/place_cups_quat_l1_err: 1.6115, per_task/place_cups_quat_l1_ideal_err: 1.6115, per_task/place_cups_pos_acc_0.01: 0.0000, per_task/place_cups_rot_acc_0.025: 0.0076, per_task/place_cups_rot_acc_0.05: 0.0076, per_task/place_cups_rot_ideal_acc_0.025: 0.0076, per_task/place_cups_rot_ideal_acc_0.05: 0.0076, per_task/place_cups_open_acc: 0.8473, per_task/place_cups_open_acc_ideal: 0.8473, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.1881, per_task/place_shape_in_shape_sorter_quat_l1_err: 1.0127, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 1.0127, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0000, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.0000, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.0000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.0000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.0000, per_task/place_shape_in_shape_sorter_open_acc: 0.9048, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9048, per_task/place_wine_at_rack_location_pos_l2_err: 0.1818, per_task/place_wine_at_rack_location_quat_l1_err: 1.1634, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1634, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.0000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.0000, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.1614, per_task/push_buttons_quat_l1_err: 0.3233, per_task/push_buttons_quat_l1_ideal_err: 0.3233, per_task/push_buttons_pos_acc_0.01: 0.0000, per_task/push_buttons_rot_acc_0.025: 0.0000, per_task/push_buttons_rot_acc_0.05: 0.1892, per_task/push_buttons_rot_ideal_acc_0.025: 0.0000, per_task/push_buttons_rot_ideal_acc_0.05: 0.1892, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.3064, per_task/put_groceries_in_cupboard_quat_l1_err: 1.5020, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 1.5020, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.0192, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.0000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.0192, per_task/put_groceries_in_cupboard_open_acc: 0.8654, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.8654, per_task/put_item_in_drawer_pos_l2_err: 0.1653, per_task/put_item_in_drawer_quat_l1_err: 1.2342, per_task/put_item_in_drawer_quat_l1_ideal_err: 1.2321, per_task/put_item_in_drawer_pos_acc_0.01: 0.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.0000, per_task/put_item_in_drawer_rot_acc_0.05: 0.0000, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.0000, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.0000, per_task/put_item_in_drawer_open_acc: 0.9558, per_task/put_item_in_drawer_open_acc_ideal: 0.9558, per_task/put_money_in_safe_pos_l2_err: 0.1922, per_task/put_money_in_safe_quat_l1_err: 1.6811, per_task/put_money_in_safe_quat_l1_ideal_err: 1.6811, per_task/put_money_in_safe_pos_acc_0.01: 0.0000, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.0000, per_task/put_money_in_safe_open_acc: 0.8205, per_task/put_money_in_safe_open_acc_ideal: 0.8205, per_task/reach_and_drag_pos_l2_err: 0.1488, per_task/reach_and_drag_quat_l1_err: 1.2538, per_task/reach_and_drag_quat_l1_ideal_err: 1.2538, per_task/reach_and_drag_pos_acc_0.01: 0.0000, per_task/reach_and_drag_rot_acc_0.025: 0.0000, per_task/reach_and_drag_rot_acc_0.05: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.0000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.1838, per_task/slide_block_to_color_target_quat_l1_err: 1.1287, per_task/slide_block_to_color_target_quat_l1_ideal_err: 1.1338, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.0769, per_task/slide_block_to_color_target_rot_acc_0.05: 0.0769, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.0769, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.0769, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.1742, per_task/stack_blocks_quat_l1_err: 0.9866, per_task/stack_blocks_quat_l1_ideal_err: 0.9866, per_task/stack_blocks_pos_acc_0.01: 0.0000, per_task/stack_blocks_rot_acc_0.025: 0.0732, per_task/stack_blocks_rot_acc_0.05: 0.0976, per_task/stack_blocks_rot_ideal_acc_0.025: 0.0732, per_task/stack_blocks_rot_ideal_acc_0.05: 0.0976, per_task/stack_blocks_open_acc: 0.9593, per_task/stack_blocks_open_acc_ideal: 0.9593, per_task/stack_cups_pos_l2_err: 0.1626, per_task/stack_cups_quat_l1_err: 0.9949, per_task/stack_cups_quat_l1_ideal_err: 0.9949, per_task/stack_cups_pos_acc_0.01: 0.0000, per_task/stack_cups_rot_acc_0.025: 0.0122, per_task/stack_cups_rot_acc_0.05: 0.0488, per_task/stack_cups_rot_ideal_acc_0.025: 0.0122, per_task/stack_cups_rot_ideal_acc_0.05: 0.0488, per_task/stack_cups_open_acc: 0.6585, per_task/stack_cups_open_acc_ideal: 0.6585, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.1860, per_task/sweep_to_dustpan_of_size_quat_l1_err: 1.3670, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 1.3670, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.0000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.0000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.0000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.1813, per_task/turn_tap_quat_l1_err: 1.6168, per_task/turn_tap_quat_l1_ideal_err: 1.6168, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 18:29:47 - INFO - __main__ - =============================================== +04/28/2025 18:36:40 - INFO - __main__ - ==============Epoch 12 Step 1500=============== +04/28/2025 18:36:40 - INFO - __main__ - loss_pos:0.2700, loss_rot:1.6770, loss_open:0.1064, loss_total:7.1830 +04/28/2025 18:36:40 - INFO - __main__ - =============================================== +04/28/2025 18:43:34 - INFO - __main__ - ==============Epoch 16 Step 2000=============== +04/28/2025 18:43:34 - INFO - __main__ - loss_pos:0.2385, loss_rot:1.5086, loss_open:0.0615, loss_total:6.3409 +04/28/2025 18:43:34 - INFO - __main__ - =============================================== +04/28/2025 18:44:05 - INFO - __main__ - =================Validation================= +04/28/2025 18:44:05 - INFO - __main__ - total/pos_l2_err: 0.0905, total/quat_l1_err: 0.9769, total/quat_l1_ideal_err: 0.9749, total/open_acc: 0.9790, total/open_acc_ideal: 0.9790, total/pos_acc_0.01: 0.0070, total/rot_acc_0.025: 0.0160, total/rot_acc_0.05: 0.0750, total/rot_ideal_acc_0.025: 0.0160, total/rot_ideal_acc_0.05: 0.0750, per_task/close_jar_pos_l2_err: 0.0833, per_task/close_jar_quat_l1_err: 0.3756, per_task/close_jar_quat_l1_ideal_err: 0.3756, per_task/close_jar_pos_acc_0.01: 0.0000, per_task/close_jar_rot_acc_0.025: 0.0196, per_task/close_jar_rot_acc_0.05: 0.0588, per_task/close_jar_rot_ideal_acc_0.025: 0.0196, per_task/close_jar_rot_ideal_acc_0.05: 0.0588, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0785, per_task/insert_onto_square_peg_quat_l1_err: 0.9461, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.9461, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.0200, per_task/insert_onto_square_peg_rot_acc_0.05: 0.0200, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.0200, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.0200, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0695, per_task/light_bulb_in_quat_l1_err: 0.9799, per_task/light_bulb_in_quat_l1_ideal_err: 0.9799, per_task/light_bulb_in_pos_acc_0.01: 0.0377, per_task/light_bulb_in_rot_acc_0.025: 0.0000, per_task/light_bulb_in_rot_acc_0.05: 0.0943, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.0000, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.0943, per_task/light_bulb_in_open_acc: 0.9811, per_task/light_bulb_in_open_acc_ideal: 0.9811, per_task/meat_off_grill_pos_l2_err: 0.0958, per_task/meat_off_grill_quat_l1_err: 1.0800, per_task/meat_off_grill_quat_l1_ideal_err: 1.0873, per_task/meat_off_grill_pos_acc_0.01: 0.0000, per_task/meat_off_grill_rot_acc_0.025: 0.0408, per_task/meat_off_grill_rot_acc_0.05: 0.1224, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.0408, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.1224, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0531, per_task/open_drawer_quat_l1_err: 1.4718, per_task/open_drawer_quat_l1_ideal_err: 1.4718, per_task/open_drawer_pos_acc_0.01: 0.0323, per_task/open_drawer_rot_acc_0.025: 0.0000, per_task/open_drawer_rot_acc_0.05: 0.0000, per_task/open_drawer_rot_ideal_acc_0.025: 0.0000, per_task/open_drawer_rot_ideal_acc_0.05: 0.0000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.1103, per_task/place_cups_quat_l1_err: 1.2433, per_task/place_cups_quat_l1_ideal_err: 1.2433, per_task/place_cups_pos_acc_0.01: 0.0000, per_task/place_cups_rot_acc_0.025: 0.0000, per_task/place_cups_rot_acc_0.05: 0.0000, per_task/place_cups_rot_ideal_acc_0.025: 0.0000, per_task/place_cups_rot_ideal_acc_0.05: 0.0000, per_task/place_cups_open_acc: 0.9750, per_task/place_cups_open_acc_ideal: 0.9750, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0873, per_task/place_shape_in_shape_sorter_quat_l1_err: 1.0737, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 1.0737, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0000, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.0263, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.0789, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.0263, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.0789, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.1225, per_task/place_wine_at_rack_location_quat_l1_err: 1.0838, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0838, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0244, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0488, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.0976, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0488, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.0976, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0762, per_task/push_buttons_quat_l1_err: 0.0881, per_task/push_buttons_quat_l1_ideal_err: 0.0881, per_task/push_buttons_pos_acc_0.01: 0.0000, per_task/push_buttons_rot_acc_0.025: 0.0000, per_task/push_buttons_rot_acc_0.05: 0.6400, per_task/push_buttons_rot_ideal_acc_0.025: 0.0000, per_task/push_buttons_rot_ideal_acc_0.05: 0.6400, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.1074, per_task/put_groceries_in_cupboard_quat_l1_err: 1.3684, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 1.3056, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.0000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.0000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.0000, per_task/put_groceries_in_cupboard_open_acc: 0.9091, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9091, per_task/put_item_in_drawer_pos_l2_err: 0.0666, per_task/put_item_in_drawer_quat_l1_err: 0.5165, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.5165, per_task/put_item_in_drawer_pos_acc_0.01: 0.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.0213, per_task/put_item_in_drawer_rot_acc_0.05: 0.0638, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.0213, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.0638, per_task/put_item_in_drawer_open_acc: 0.9149, per_task/put_item_in_drawer_open_acc_ideal: 0.9149, per_task/put_money_in_safe_pos_l2_err: 0.0930, per_task/put_money_in_safe_quat_l1_err: 0.6530, per_task/put_money_in_safe_quat_l1_ideal_err: 0.6530, per_task/put_money_in_safe_pos_acc_0.01: 0.0000, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.1176, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.1176, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0686, per_task/reach_and_drag_quat_l1_err: 1.0801, per_task/reach_and_drag_quat_l1_ideal_err: 1.0801, per_task/reach_and_drag_pos_acc_0.01: 0.0000, per_task/reach_and_drag_rot_acc_0.025: 0.0000, per_task/reach_and_drag_rot_acc_0.05: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.0000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.1071, per_task/slide_block_to_color_target_quat_l1_err: 0.8643, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.8643, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.0000, per_task/slide_block_to_color_target_rot_acc_0.05: 0.0000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.0000, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.0000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0894, per_task/stack_blocks_quat_l1_err: 0.9428, per_task/stack_blocks_quat_l1_ideal_err: 0.9410, per_task/stack_blocks_pos_acc_0.01: 0.0219, per_task/stack_blocks_rot_acc_0.025: 0.0438, per_task/stack_blocks_rot_acc_0.05: 0.1460, per_task/stack_blocks_rot_ideal_acc_0.025: 0.0438, per_task/stack_blocks_rot_ideal_acc_0.05: 0.1460, per_task/stack_blocks_open_acc: 0.9854, per_task/stack_blocks_open_acc_ideal: 0.9854, per_task/stack_cups_pos_l2_err: 0.0941, per_task/stack_cups_quat_l1_err: 1.0391, per_task/stack_cups_quat_l1_ideal_err: 1.0391, per_task/stack_cups_pos_acc_0.01: 0.0000, per_task/stack_cups_rot_acc_0.025: 0.0135, per_task/stack_cups_rot_acc_0.05: 0.0676, per_task/stack_cups_rot_ideal_acc_0.025: 0.0135, per_task/stack_cups_rot_ideal_acc_0.05: 0.0676, per_task/stack_cups_open_acc: 0.9730, per_task/stack_cups_open_acc_ideal: 0.9730, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.1061, per_task/sweep_to_dustpan_of_size_quat_l1_err: 1.2499, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 1.2499, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.0000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.0000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.0000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.1230, per_task/turn_tap_quat_l1_err: 2.0181, per_task/turn_tap_quat_l1_ideal_err: 2.0181, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9231, per_task/turn_tap_open_acc_ideal: 0.9231 +04/28/2025 18:44:05 - INFO - __main__ - =============================================== +04/28/2025 18:51:02 - INFO - __main__ - ==============Epoch 21 Step 2500=============== +04/28/2025 18:51:02 - INFO - __main__ - loss_pos:0.2209, loss_rot:1.3697, loss_open:0.0467, loss_total:5.8344 +04/28/2025 18:51:02 - INFO - __main__ - =============================================== +04/28/2025 18:57:55 - INFO - __main__ - ==============Epoch 25 Step 3000=============== +04/28/2025 18:57:55 - INFO - __main__ - loss_pos:0.2086, loss_rot:1.2212, loss_open:0.0425, loss_total:5.4350 +04/28/2025 18:57:55 - INFO - __main__ - =============================================== +04/28/2025 18:58:26 - INFO - __main__ - =================Validation================= +04/28/2025 18:58:26 - INFO - __main__ - total/pos_l2_err: 0.0694, total/quat_l1_err: 0.4907, total/quat_l1_ideal_err: 0.4908, total/open_acc: 0.9920, total/open_acc_ideal: 0.9920, total/pos_acc_0.01: 0.0040, total/rot_acc_0.025: 0.0660, total/rot_acc_0.05: 0.1650, total/rot_ideal_acc_0.025: 0.0660, total/rot_ideal_acc_0.05: 0.1650, per_task/close_jar_pos_l2_err: 0.0543, per_task/close_jar_quat_l1_err: 0.1671, per_task/close_jar_quat_l1_ideal_err: 0.1671, per_task/close_jar_pos_acc_0.01: 0.0000, per_task/close_jar_rot_acc_0.025: 0.0870, per_task/close_jar_rot_acc_0.05: 0.2826, per_task/close_jar_rot_ideal_acc_0.025: 0.0870, per_task/close_jar_rot_ideal_acc_0.05: 0.2826, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0504, per_task/insert_onto_square_peg_quat_l1_err: 0.4081, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4081, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0196, per_task/insert_onto_square_peg_rot_acc_0.025: 0.0980, per_task/insert_onto_square_peg_rot_acc_0.05: 0.1765, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.0980, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.1765, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0499, per_task/light_bulb_in_quat_l1_err: 0.3639, per_task/light_bulb_in_quat_l1_ideal_err: 0.3639, per_task/light_bulb_in_pos_acc_0.01: 0.0000, per_task/light_bulb_in_rot_acc_0.025: 0.0566, per_task/light_bulb_in_rot_acc_0.05: 0.2453, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.0566, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.2453, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0434, per_task/meat_off_grill_quat_l1_err: 0.4029, per_task/meat_off_grill_quat_l1_ideal_err: 0.4029, per_task/meat_off_grill_pos_acc_0.01: 0.0000, per_task/meat_off_grill_rot_acc_0.025: 0.0870, per_task/meat_off_grill_rot_acc_0.05: 0.1957, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.0870, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.1957, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0559, per_task/open_drawer_quat_l1_err: 1.1389, per_task/open_drawer_quat_l1_ideal_err: 1.1389, per_task/open_drawer_pos_acc_0.01: 0.0000, per_task/open_drawer_rot_acc_0.025: 0.0769, per_task/open_drawer_rot_acc_0.05: 0.0769, per_task/open_drawer_rot_ideal_acc_0.025: 0.0769, per_task/open_drawer_rot_ideal_acc_0.05: 0.0769, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0671, per_task/place_cups_quat_l1_err: 0.5411, per_task/place_cups_quat_l1_ideal_err: 0.5411, per_task/place_cups_pos_acc_0.01: 0.0098, per_task/place_cups_rot_acc_0.025: 0.0490, per_task/place_cups_rot_acc_0.05: 0.1961, per_task/place_cups_rot_ideal_acc_0.025: 0.0490, per_task/place_cups_rot_ideal_acc_0.05: 0.1961, per_task/place_cups_open_acc: 0.9804, per_task/place_cups_open_acc_ideal: 0.9804, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0898, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3731, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3731, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0000, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.0882, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.1176, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.0882, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.1176, per_task/place_shape_in_shape_sorter_open_acc: 0.9412, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9412, per_task/place_wine_at_rack_location_pos_l2_err: 0.0783, per_task/place_wine_at_rack_location_quat_l1_err: 1.2097, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.2097, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0755, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.0943, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0755, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.0943, per_task/place_wine_at_rack_location_open_acc: 0.9811, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9811, per_task/push_buttons_pos_l2_err: 0.0510, per_task/push_buttons_quat_l1_err: 0.1033, per_task/push_buttons_quat_l1_ideal_err: 0.1033, per_task/push_buttons_pos_acc_0.01: 0.0000, per_task/push_buttons_rot_acc_0.025: 0.0000, per_task/push_buttons_rot_acc_0.05: 0.5312, per_task/push_buttons_rot_ideal_acc_0.025: 0.0000, per_task/push_buttons_rot_ideal_acc_0.05: 0.5312, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.1258, per_task/put_groceries_in_cupboard_quat_l1_err: 1.0552, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 1.0552, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.0500, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.0500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.0500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.0500, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0626, per_task/put_item_in_drawer_quat_l1_err: 0.5462, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.5462, per_task/put_item_in_drawer_pos_acc_0.01: 0.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.0625, per_task/put_item_in_drawer_rot_acc_0.05: 0.0982, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.0625, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.0982, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0659, per_task/put_money_in_safe_quat_l1_err: 0.7351, per_task/put_money_in_safe_quat_l1_ideal_err: 0.7351, per_task/put_money_in_safe_pos_acc_0.01: 0.0000, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.0513, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.0513, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0464, per_task/reach_and_drag_quat_l1_err: 0.3489, per_task/reach_and_drag_quat_l1_ideal_err: 0.3489, per_task/reach_and_drag_pos_acc_0.01: 0.0256, per_task/reach_and_drag_rot_acc_0.025: 0.0000, per_task/reach_and_drag_rot_acc_0.05: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.0000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0809, per_task/stack_blocks_quat_l1_err: 0.2961, per_task/stack_blocks_quat_l1_ideal_err: 0.2961, per_task/stack_blocks_pos_acc_0.01: 0.0000, per_task/stack_blocks_rot_acc_0.025: 0.0851, per_task/stack_blocks_rot_acc_0.05: 0.1773, per_task/stack_blocks_rot_ideal_acc_0.025: 0.0851, per_task/stack_blocks_rot_ideal_acc_0.05: 0.1773, per_task/stack_blocks_open_acc: 0.9929, per_task/stack_blocks_open_acc_ideal: 0.9929, per_task/stack_cups_pos_l2_err: 0.0682, per_task/stack_cups_quat_l1_err: 0.1522, per_task/stack_cups_quat_l1_ideal_err: 0.1522, per_task/stack_cups_pos_acc_0.01: 0.0102, per_task/stack_cups_rot_acc_0.025: 0.0918, per_task/stack_cups_rot_acc_0.05: 0.2551, per_task/stack_cups_rot_ideal_acc_0.025: 0.0918, per_task/stack_cups_rot_ideal_acc_0.05: 0.2551, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.1055, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3311, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3311, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.0000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.0000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.0000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0841, per_task/turn_tap_quat_l1_err: 1.5367, per_task/turn_tap_quat_l1_ideal_err: 1.5367, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9000, per_task/turn_tap_open_acc_ideal: 0.9000, per_task/slide_block_to_color_target_pos_l2_err: 0.0781, per_task/slide_block_to_color_target_quat_l1_err: 0.4573, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4592, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.1935, per_task/slide_block_to_color_target_rot_acc_0.05: 0.2581, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.1935, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.2581, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000 +04/28/2025 18:58:26 - INFO - __main__ - =============================================== +04/28/2025 19:05:14 - INFO - __main__ - ==============Epoch 29 Step 3500=============== +04/28/2025 19:05:14 - INFO - __main__ - loss_pos:0.1987, loss_rot:1.1176, loss_open:0.0445, loss_total:5.1370 +04/28/2025 19:05:14 - INFO - __main__ - =============================================== +04/28/2025 19:12:11 - INFO - __main__ - ==============Epoch 33 Step 4000=============== +04/28/2025 19:12:11 - INFO - __main__ - loss_pos:0.1884, loss_rot:1.0018, loss_open:0.0314, loss_total:4.8015 +04/28/2025 19:12:11 - INFO - __main__ - =============================================== +04/28/2025 19:12:42 - INFO - __main__ - =================Validation================= +04/28/2025 19:12:42 - INFO - __main__ - total/pos_l2_err: 0.0606, total/quat_l1_err: 0.3671, total/quat_l1_ideal_err: 0.3675, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.0190, total/rot_acc_0.025: 0.1670, total/rot_acc_0.05: 0.3260, total/rot_ideal_acc_0.025: 0.1670, total/rot_ideal_acc_0.05: 0.3260, per_task/close_jar_pos_l2_err: 0.0412, per_task/close_jar_quat_l1_err: 0.2475, per_task/close_jar_quat_l1_ideal_err: 0.2475, per_task/close_jar_pos_acc_0.01: 0.0167, per_task/close_jar_rot_acc_0.025: 0.2333, per_task/close_jar_rot_acc_0.05: 0.4833, per_task/close_jar_rot_ideal_acc_0.025: 0.2333, per_task/close_jar_rot_ideal_acc_0.05: 0.4833, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0566, per_task/insert_onto_square_peg_quat_l1_err: 0.3374, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3374, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0250, per_task/insert_onto_square_peg_rot_acc_0.025: 0.1750, per_task/insert_onto_square_peg_rot_acc_0.05: 0.3500, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.1750, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.3500, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0493, per_task/light_bulb_in_quat_l1_err: 0.2172, per_task/light_bulb_in_quat_l1_ideal_err: 0.2172, per_task/light_bulb_in_pos_acc_0.01: 0.0370, per_task/light_bulb_in_rot_acc_0.025: 0.2037, per_task/light_bulb_in_rot_acc_0.05: 0.5370, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.2037, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5370, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0460, per_task/meat_off_grill_quat_l1_err: 0.2970, per_task/meat_off_grill_quat_l1_ideal_err: 0.2959, per_task/meat_off_grill_pos_acc_0.01: 0.0000, per_task/meat_off_grill_rot_acc_0.025: 0.2500, per_task/meat_off_grill_rot_acc_0.05: 0.4615, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.2500, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.4615, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0449, per_task/open_drawer_quat_l1_err: 0.3187, per_task/open_drawer_quat_l1_ideal_err: 0.3187, per_task/open_drawer_pos_acc_0.01: 0.0345, per_task/open_drawer_rot_acc_0.025: 0.3103, per_task/open_drawer_rot_acc_0.05: 0.4828, per_task/open_drawer_rot_ideal_acc_0.025: 0.3103, per_task/open_drawer_rot_ideal_acc_0.05: 0.4828, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0582, per_task/place_cups_quat_l1_err: 0.3647, per_task/place_cups_quat_l1_ideal_err: 0.3683, per_task/place_cups_pos_acc_0.01: 0.0231, per_task/place_cups_rot_acc_0.025: 0.0846, per_task/place_cups_rot_acc_0.05: 0.1769, per_task/place_cups_rot_ideal_acc_0.025: 0.0846, per_task/place_cups_rot_ideal_acc_0.05: 0.1769, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0592, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3019, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3019, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0312, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.0625, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3438, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.0625, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3438, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0813, per_task/place_wine_at_rack_location_quat_l1_err: 0.9798, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9798, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0270, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.0541, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0270, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.0541, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0597, per_task/push_buttons_quat_l1_err: 0.0577, per_task/push_buttons_quat_l1_ideal_err: 0.0577, per_task/push_buttons_pos_acc_0.01: 0.0000, per_task/push_buttons_rot_acc_0.025: 0.5882, per_task/push_buttons_rot_acc_0.05: 0.7059, per_task/push_buttons_rot_ideal_acc_0.025: 0.5882, per_task/push_buttons_rot_ideal_acc_0.05: 0.7059, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0961, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6284, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6284, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.0909, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.2121, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.0909, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.2121, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0382, per_task/put_item_in_drawer_quat_l1_err: 0.5477, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.5477, per_task/put_item_in_drawer_pos_acc_0.01: 0.0122, per_task/put_item_in_drawer_rot_acc_0.025: 0.0732, per_task/put_item_in_drawer_rot_acc_0.05: 0.1463, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.0732, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.1463, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0558, per_task/put_money_in_safe_quat_l1_err: 0.5734, per_task/put_money_in_safe_quat_l1_ideal_err: 0.5734, per_task/put_money_in_safe_pos_acc_0.01: 0.0000, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.0000, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0437, per_task/reach_and_drag_quat_l1_err: 0.3507, per_task/reach_and_drag_quat_l1_ideal_err: 0.3507, per_task/reach_and_drag_pos_acc_0.01: 0.0833, per_task/reach_and_drag_rot_acc_0.025: 0.0000, per_task/reach_and_drag_rot_acc_0.05: 0.0833, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.0833, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0633, per_task/slide_block_to_color_target_quat_l1_err: 0.5573, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5573, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.0357, per_task/slide_block_to_color_target_rot_acc_0.05: 0.2500, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.0357, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.2500, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0822, per_task/stack_blocks_quat_l1_err: 0.3064, per_task/stack_blocks_quat_l1_ideal_err: 0.3064, per_task/stack_blocks_pos_acc_0.01: 0.0282, per_task/stack_blocks_rot_acc_0.025: 0.2606, per_task/stack_blocks_rot_acc_0.05: 0.4437, per_task/stack_blocks_rot_ideal_acc_0.025: 0.2606, per_task/stack_blocks_rot_ideal_acc_0.05: 0.4437, per_task/stack_blocks_open_acc: 0.9789, per_task/stack_blocks_open_acc_ideal: 0.9789, per_task/stack_cups_pos_l2_err: 0.0639, per_task/stack_cups_quat_l1_err: 0.0964, per_task/stack_cups_quat_l1_ideal_err: 0.0964, per_task/stack_cups_pos_acc_0.01: 0.0000, per_task/stack_cups_rot_acc_0.025: 0.2292, per_task/stack_cups_rot_acc_0.05: 0.5417, per_task/stack_cups_rot_ideal_acc_0.025: 0.2292, per_task/stack_cups_rot_ideal_acc_0.05: 0.5417, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0915, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2970, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2970, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.2439, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.2439, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.2439, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.2439, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0524, per_task/turn_tap_quat_l1_err: 1.8125, per_task/turn_tap_quat_l1_ideal_err: 1.8125, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 19:12:42 - INFO - __main__ - =============================================== +04/28/2025 19:19:39 - INFO - __main__ - ==============Epoch 37 Step 4500=============== +04/28/2025 19:19:39 - INFO - __main__ - loss_pos:0.1812, loss_rot:0.9069, loss_open:0.0307, loss_total:4.5619 +04/28/2025 19:19:39 - INFO - __main__ - =============================================== +04/28/2025 19:27:01 - INFO - __main__ - ==============Epoch 42 Step 5000=============== +04/28/2025 19:27:02 - INFO - __main__ - loss_pos:0.1733, loss_rot:0.8325, loss_open:0.0267, loss_total:4.3248 +04/28/2025 19:27:02 - INFO - __main__ - =============================================== +04/28/2025 19:27:33 - INFO - __main__ - =================Validation================= +04/28/2025 19:31:08 - INFO - __main__ - total/pos_l2_err: 0.0506, total/quat_l1_err: 0.4475, total/quat_l1_ideal_err: 0.4473, total/open_acc: 0.9930, total/open_acc_ideal: 0.9930, total/pos_acc_0.01: 0.0400, total/rot_acc_0.025: 0.1970, total/rot_acc_0.05: 0.3930, total/rot_ideal_acc_0.025: 0.1970, total/rot_ideal_acc_0.05: 0.3930, per_task/close_jar_pos_l2_err: 0.0292, per_task/close_jar_quat_l1_err: 0.1604, per_task/close_jar_quat_l1_ideal_err: 0.1604, per_task/close_jar_pos_acc_0.01: 0.0698, per_task/close_jar_rot_acc_0.025: 0.3721, per_task/close_jar_rot_acc_0.05: 0.6744, per_task/close_jar_rot_ideal_acc_0.025: 0.3721, per_task/close_jar_rot_ideal_acc_0.05: 0.6744, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0390, per_task/insert_onto_square_peg_quat_l1_err: 0.4617, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4589, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3182, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3182, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0377, per_task/light_bulb_in_quat_l1_err: 0.2758, per_task/light_bulb_in_quat_l1_ideal_err: 0.2758, per_task/light_bulb_in_pos_acc_0.01: 0.0408, per_task/light_bulb_in_rot_acc_0.025: 0.3469, per_task/light_bulb_in_rot_acc_0.05: 0.6122, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.3469, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6122, per_task/light_bulb_in_open_acc: 0.9796, per_task/light_bulb_in_open_acc_ideal: 0.9796, per_task/meat_off_grill_pos_l2_err: 0.0275, per_task/meat_off_grill_quat_l1_err: 0.2152, per_task/meat_off_grill_quat_l1_ideal_err: 0.2152, per_task/meat_off_grill_pos_acc_0.01: 0.0577, per_task/meat_off_grill_rot_acc_0.025: 0.3654, per_task/meat_off_grill_rot_acc_0.05: 0.6538, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.3654, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6538, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0267, per_task/open_drawer_quat_l1_err: 0.7509, per_task/open_drawer_quat_l1_ideal_err: 0.7509, per_task/open_drawer_pos_acc_0.01: 0.0000, per_task/open_drawer_rot_acc_0.025: 0.0769, per_task/open_drawer_rot_acc_0.05: 0.2308, per_task/open_drawer_rot_ideal_acc_0.025: 0.0769, per_task/open_drawer_rot_ideal_acc_0.05: 0.2308, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0455, per_task/place_cups_quat_l1_err: 0.5711, per_task/place_cups_quat_l1_ideal_err: 0.5711, per_task/place_cups_pos_acc_0.01: 0.0496, per_task/place_cups_rot_acc_0.025: 0.0579, per_task/place_cups_rot_acc_0.05: 0.2397, per_task/place_cups_rot_ideal_acc_0.025: 0.0579, per_task/place_cups_rot_ideal_acc_0.05: 0.2397, per_task/place_cups_open_acc: 0.9917, per_task/place_cups_open_acc_ideal: 0.9917, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0760, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5899, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5899, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0227, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.1364, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.2955, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.1364, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.2955, per_task/place_shape_in_shape_sorter_open_acc: 0.9773, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9773, per_task/place_wine_at_rack_location_pos_l2_err: 0.0771, per_task/place_wine_at_rack_location_quat_l1_err: 1.1291, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1291, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0476, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.0952, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0476, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.0952, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0279, per_task/push_buttons_quat_l1_err: 0.0575, per_task/push_buttons_quat_l1_ideal_err: 0.0575, per_task/push_buttons_pos_acc_0.01: 0.0909, per_task/push_buttons_rot_acc_0.025: 0.2121, per_task/push_buttons_rot_acc_0.05: 0.8182, per_task/push_buttons_rot_ideal_acc_0.025: 0.2121, per_task/push_buttons_rot_ideal_acc_0.05: 0.8182, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0901, per_task/put_groceries_in_cupboard_quat_l1_err: 0.8120, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.8120, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.1600, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.2600, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.1600, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.2600, per_task/put_groceries_in_cupboard_open_acc: 0.9800, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9800, per_task/put_item_in_drawer_pos_l2_err: 0.0297, per_task/put_item_in_drawer_quat_l1_err: 0.4642, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4642, per_task/put_item_in_drawer_pos_acc_0.01: 0.0526, per_task/put_item_in_drawer_rot_acc_0.025: 0.1263, per_task/put_item_in_drawer_rot_acc_0.05: 0.2632, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.1263, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.2632, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0498, per_task/put_money_in_safe_quat_l1_err: 0.4325, per_task/put_money_in_safe_quat_l1_ideal_err: 0.4325, per_task/put_money_in_safe_pos_acc_0.01: 0.0000, per_task/put_money_in_safe_rot_acc_0.025: 0.0222, per_task/put_money_in_safe_rot_acc_0.05: 0.0889, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0222, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.0889, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0259, per_task/reach_and_drag_quat_l1_err: 0.3790, per_task/reach_and_drag_quat_l1_ideal_err: 0.3790, per_task/reach_and_drag_pos_acc_0.01: 0.0741, per_task/reach_and_drag_rot_acc_0.025: 0.0000, per_task/reach_and_drag_rot_acc_0.05: 0.0185, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.0185, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0555, per_task/slide_block_to_color_target_quat_l1_err: 0.5279, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5279, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0556, per_task/slide_block_to_color_target_rot_acc_0.025: 0.1944, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3889, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.1944, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3889, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0808, per_task/stack_blocks_quat_l1_err: 0.2844, per_task/stack_blocks_quat_l1_ideal_err: 0.2839, per_task/stack_blocks_pos_acc_0.01: 0.0511, per_task/stack_blocks_rot_acc_0.025: 0.3066, per_task/stack_blocks_rot_acc_0.05: 0.5620, per_task/stack_blocks_rot_ideal_acc_0.025: 0.3066, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5620, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0435, per_task/stack_cups_quat_l1_err: 0.1736, per_task/stack_cups_quat_l1_ideal_err: 0.1736, per_task/stack_cups_pos_acc_0.01: 0.0482, per_task/stack_cups_rot_acc_0.025: 0.3012, per_task/stack_cups_rot_acc_0.05: 0.6627, per_task/stack_cups_rot_ideal_acc_0.025: 0.3012, per_task/stack_cups_rot_ideal_acc_0.05: 0.6627, per_task/stack_cups_open_acc: 0.9880, per_task/stack_cups_open_acc_ideal: 0.9880, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0621, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3731, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3731, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.3421, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.3421, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.3421, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.3421, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0482, per_task/turn_tap_quat_l1_err: 1.4414, per_task/turn_tap_quat_l1_ideal_err: 1.4414, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9048, per_task/turn_tap_open_acc_ideal: 0.9048 +04/28/2025 19:31:08 - INFO - __main__ - =============================================== +04/28/2025 19:38:22 - INFO - __main__ - ==============Epoch 46 Step 5500=============== +04/28/2025 19:38:22 - INFO - __main__ - loss_pos:0.1673, loss_rot:0.7697, loss_open:0.0297, loss_total:4.1449 +04/28/2025 19:38:22 - INFO - __main__ - =============================================== +04/28/2025 19:45:14 - INFO - __main__ - ==============Epoch 50 Step 6000=============== +04/28/2025 19:45:14 - INFO - __main__ - loss_pos:0.1604, loss_rot:0.7247, loss_open:0.0216, loss_total:3.9551 +04/28/2025 19:45:14 - INFO - __main__ - =============================================== +04/28/2025 19:45:45 - INFO - __main__ - =================Validation================= +04/28/2025 19:45:45 - INFO - __main__ - total/pos_l2_err: 0.0429, total/quat_l1_err: 0.4193, total/quat_l1_ideal_err: 0.4187, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.0570, total/rot_acc_0.025: 0.2530, total/rot_acc_0.05: 0.4220, total/rot_ideal_acc_0.025: 0.2530, total/rot_ideal_acc_0.05: 0.4220, per_task/close_jar_pos_l2_err: 0.0301, per_task/close_jar_quat_l1_err: 0.2130, per_task/close_jar_quat_l1_ideal_err: 0.2130, per_task/close_jar_pos_acc_0.01: 0.0417, per_task/close_jar_rot_acc_0.025: 0.3125, per_task/close_jar_rot_acc_0.05: 0.5833, per_task/close_jar_rot_ideal_acc_0.025: 0.3125, per_task/close_jar_rot_ideal_acc_0.05: 0.5833, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0328, per_task/insert_onto_square_peg_quat_l1_err: 0.3463, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3463, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0238, per_task/insert_onto_square_peg_rot_acc_0.025: 0.1905, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4524, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.1905, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4524, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0273, per_task/light_bulb_in_quat_l1_err: 0.4325, per_task/light_bulb_in_quat_l1_ideal_err: 0.4325, per_task/light_bulb_in_pos_acc_0.01: 0.0926, per_task/light_bulb_in_rot_acc_0.025: 0.4259, per_task/light_bulb_in_rot_acc_0.05: 0.6296, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4259, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6296, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0269, per_task/meat_off_grill_quat_l1_err: 0.2292, per_task/meat_off_grill_quat_l1_ideal_err: 0.2292, per_task/meat_off_grill_pos_acc_0.01: 0.0500, per_task/meat_off_grill_rot_acc_0.025: 0.2500, per_task/meat_off_grill_rot_acc_0.05: 0.6500, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.2500, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6500, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0246, per_task/open_drawer_quat_l1_err: 0.8090, per_task/open_drawer_quat_l1_ideal_err: 0.8090, per_task/open_drawer_pos_acc_0.01: 0.1333, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.4667, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.4667, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0549, per_task/place_cups_quat_l1_err: 0.4535, per_task/place_cups_quat_l1_ideal_err: 0.4535, per_task/place_cups_pos_acc_0.01: 0.0403, per_task/place_cups_rot_acc_0.025: 0.1371, per_task/place_cups_rot_acc_0.05: 0.3226, per_task/place_cups_rot_ideal_acc_0.025: 0.1371, per_task/place_cups_rot_ideal_acc_0.05: 0.3226, per_task/place_cups_open_acc: 0.9839, per_task/place_cups_open_acc_ideal: 0.9839, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0434, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4780, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4780, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0682, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.1818, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.2500, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.1818, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.2500, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0435, per_task/place_wine_at_rack_location_quat_l1_err: 1.1071, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1040, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0256, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0513, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.1026, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0513, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.1026, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0253, per_task/push_buttons_quat_l1_err: 0.0428, per_task/push_buttons_quat_l1_ideal_err: 0.0428, per_task/push_buttons_pos_acc_0.01: 0.1000, per_task/push_buttons_rot_acc_0.025: 0.4750, per_task/push_buttons_rot_acc_0.05: 0.7750, per_task/push_buttons_rot_ideal_acc_0.025: 0.4750, per_task/push_buttons_rot_ideal_acc_0.05: 0.7750, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0717, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6726, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6726, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.1765, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.2647, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.1765, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.2647, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0244, per_task/put_item_in_drawer_quat_l1_err: 0.3542, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3542, per_task/put_item_in_drawer_pos_acc_0.01: 0.1031, per_task/put_item_in_drawer_rot_acc_0.025: 0.1443, per_task/put_item_in_drawer_rot_acc_0.05: 0.3299, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.1443, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.3299, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0396, per_task/put_money_in_safe_quat_l1_err: 0.2173, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2173, per_task/put_money_in_safe_pos_acc_0.01: 0.0294, per_task/put_money_in_safe_rot_acc_0.025: 0.0588, per_task/put_money_in_safe_rot_acc_0.05: 0.2941, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0588, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.2941, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0270, per_task/reach_and_drag_quat_l1_err: 0.3173, per_task/reach_and_drag_quat_l1_ideal_err: 0.3173, per_task/reach_and_drag_pos_acc_0.01: 0.1207, per_task/reach_and_drag_rot_acc_0.025: 0.1724, per_task/reach_and_drag_rot_acc_0.05: 0.1724, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1724, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.1724, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0317, per_task/slide_block_to_color_target_quat_l1_err: 0.7014, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.7014, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0400, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2400, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3200, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2400, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3200, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0650, per_task/stack_blocks_quat_l1_err: 0.3484, per_task/stack_blocks_quat_l1_ideal_err: 0.3450, per_task/stack_blocks_pos_acc_0.01: 0.0336, per_task/stack_blocks_rot_acc_0.025: 0.4094, per_task/stack_blocks_rot_acc_0.05: 0.5570, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4094, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5570, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0356, per_task/stack_cups_quat_l1_err: 0.0757, per_task/stack_cups_quat_l1_ideal_err: 0.0757, per_task/stack_cups_pos_acc_0.01: 0.0658, per_task/stack_cups_rot_acc_0.025: 0.3289, per_task/stack_cups_rot_acc_0.05: 0.5921, per_task/stack_cups_rot_ideal_acc_0.025: 0.3289, per_task/stack_cups_rot_ideal_acc_0.05: 0.5921, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0845, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3358, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3358, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0222, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.4000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.4000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.4000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.4000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0304, per_task/turn_tap_quat_l1_err: 2.0113, per_task/turn_tap_quat_l1_ideal_err: 2.0113, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9524, per_task/turn_tap_open_acc_ideal: 0.9524 +04/28/2025 19:45:45 - INFO - __main__ - =============================================== +04/28/2025 19:52:39 - INFO - __main__ - ==============Epoch 54 Step 6500=============== +04/28/2025 19:52:39 - INFO - __main__ - loss_pos:0.1581, loss_rot:0.6763, loss_open:0.0203, loss_total:3.8579 +04/28/2025 19:52:39 - INFO - __main__ - =============================================== +04/28/2025 19:59:33 - INFO - __main__ - ==============Epoch 58 Step 7000=============== +04/28/2025 19:59:33 - INFO - __main__ - loss_pos:0.1545, loss_rot:0.6518, loss_open:0.0225, loss_total:3.7640 +04/28/2025 19:59:33 - INFO - __main__ - =============================================== +04/28/2025 20:00:04 - INFO - __main__ - =================Validation================= +04/28/2025 20:00:04 - INFO - __main__ - total/pos_l2_err: 0.0379, total/quat_l1_err: 0.4246, total/quat_l1_ideal_err: 0.4246, total/open_acc: 0.9950, total/open_acc_ideal: 0.9950, total/pos_acc_0.01: 0.0840, total/rot_acc_0.025: 0.2930, total/rot_acc_0.05: 0.4720, total/rot_ideal_acc_0.025: 0.2930, total/rot_ideal_acc_0.05: 0.4720, per_task/close_jar_pos_l2_err: 0.0224, per_task/close_jar_quat_l1_err: 0.2531, per_task/close_jar_quat_l1_ideal_err: 0.2531, per_task/close_jar_pos_acc_0.01: 0.1216, per_task/close_jar_rot_acc_0.025: 0.4865, per_task/close_jar_rot_acc_0.05: 0.6757, per_task/close_jar_rot_ideal_acc_0.025: 0.4865, per_task/close_jar_rot_ideal_acc_0.05: 0.6757, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0262, per_task/insert_onto_square_peg_quat_l1_err: 0.4679, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4679, per_task/insert_onto_square_peg_pos_acc_0.01: 0.2000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.2250, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.2250, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0235, per_task/light_bulb_in_quat_l1_err: 0.6126, per_task/light_bulb_in_quat_l1_ideal_err: 0.6126, per_task/light_bulb_in_pos_acc_0.01: 0.1311, per_task/light_bulb_in_rot_acc_0.025: 0.3607, per_task/light_bulb_in_rot_acc_0.05: 0.4918, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.3607, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4918, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0213, per_task/meat_off_grill_quat_l1_err: 0.3679, per_task/meat_off_grill_quat_l1_ideal_err: 0.3679, per_task/meat_off_grill_pos_acc_0.01: 0.0732, per_task/meat_off_grill_rot_acc_0.025: 0.2927, per_task/meat_off_grill_rot_acc_0.05: 0.6341, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.2927, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6341, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0309, per_task/open_drawer_quat_l1_err: 0.5260, per_task/open_drawer_quat_l1_ideal_err: 0.5260, per_task/open_drawer_pos_acc_0.01: 0.0312, per_task/open_drawer_rot_acc_0.025: 0.4062, per_task/open_drawer_rot_acc_0.05: 0.7188, per_task/open_drawer_rot_ideal_acc_0.025: 0.4062, per_task/open_drawer_rot_ideal_acc_0.05: 0.7188, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0464, per_task/place_cups_quat_l1_err: 0.4609, per_task/place_cups_quat_l1_ideal_err: 0.4609, per_task/place_cups_pos_acc_0.01: 0.0560, per_task/place_cups_rot_acc_0.025: 0.1120, per_task/place_cups_rot_acc_0.05: 0.3200, per_task/place_cups_rot_ideal_acc_0.025: 0.1120, per_task/place_cups_rot_ideal_acc_0.05: 0.3200, per_task/place_cups_open_acc: 0.9920, per_task/place_cups_open_acc_ideal: 0.9920, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0273, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4084, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4084, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1190, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3571, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5476, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3571, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5476, per_task/place_shape_in_shape_sorter_open_acc: 0.9762, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9762, per_task/place_wine_at_rack_location_pos_l2_err: 0.0508, per_task/place_wine_at_rack_location_quat_l1_err: 1.1535, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1535, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0588, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.0882, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0588, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.0882, per_task/place_wine_at_rack_location_open_acc: 0.9706, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9706, per_task/push_buttons_pos_l2_err: 0.0219, per_task/push_buttons_quat_l1_err: 0.0424, per_task/push_buttons_quat_l1_ideal_err: 0.0424, per_task/push_buttons_pos_acc_0.01: 0.1333, per_task/push_buttons_rot_acc_0.025: 0.6000, per_task/push_buttons_rot_acc_0.05: 0.8000, per_task/push_buttons_rot_ideal_acc_0.025: 0.6000, per_task/push_buttons_rot_ideal_acc_0.05: 0.8000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0663, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6829, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6829, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.0789, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.1842, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.0789, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.1842, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0211, per_task/put_item_in_drawer_quat_l1_err: 0.3785, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3785, per_task/put_item_in_drawer_pos_acc_0.01: 0.1170, per_task/put_item_in_drawer_rot_acc_0.025: 0.3404, per_task/put_item_in_drawer_rot_acc_0.05: 0.5000, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.3404, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.5000, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0281, per_task/put_money_in_safe_quat_l1_err: 0.2310, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2310, per_task/put_money_in_safe_pos_acc_0.01: 0.0303, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.1818, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.1818, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0223, per_task/reach_and_drag_quat_l1_err: 0.3727, per_task/reach_and_drag_quat_l1_ideal_err: 0.3727, per_task/reach_and_drag_pos_acc_0.01: 0.1163, per_task/reach_and_drag_rot_acc_0.025: 0.0930, per_task/reach_and_drag_rot_acc_0.05: 0.3023, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0930, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3023, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0296, per_task/slide_block_to_color_target_quat_l1_err: 0.4764, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4764, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4062, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4062, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0649, per_task/stack_blocks_quat_l1_err: 0.3923, per_task/stack_blocks_quat_l1_ideal_err: 0.3923, per_task/stack_blocks_pos_acc_0.01: 0.1097, per_task/stack_blocks_rot_acc_0.025: 0.3613, per_task/stack_blocks_rot_acc_0.05: 0.5290, per_task/stack_blocks_rot_ideal_acc_0.025: 0.3613, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5290, per_task/stack_blocks_open_acc: 0.9935, per_task/stack_blocks_open_acc_ideal: 0.9935, per_task/stack_cups_pos_l2_err: 0.0360, per_task/stack_cups_quat_l1_err: 0.0831, per_task/stack_cups_quat_l1_ideal_err: 0.0831, per_task/stack_cups_pos_acc_0.01: 0.0145, per_task/stack_cups_rot_acc_0.025: 0.3043, per_task/stack_cups_rot_acc_0.05: 0.6232, per_task/stack_cups_rot_ideal_acc_0.025: 0.3043, per_task/stack_cups_rot_ideal_acc_0.05: 0.6232, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0564, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2462, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2462, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0227, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5227, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5227, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5227, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5227, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0166, per_task/turn_tap_quat_l1_err: 1.9075, per_task/turn_tap_quat_l1_ideal_err: 1.9075, per_task/turn_tap_pos_acc_0.01: 0.2308, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9231, per_task/turn_tap_open_acc_ideal: 0.9231 +04/28/2025 20:00:04 - INFO - __main__ - =============================================== +04/28/2025 20:06:59 - INFO - __main__ - ==============Epoch 63 Step 7500=============== +04/28/2025 20:06:59 - INFO - __main__ - loss_pos:0.1529, loss_rot:0.6278, loss_open:0.0200, loss_total:3.7054 +04/28/2025 20:06:59 - INFO - __main__ - =============================================== +04/28/2025 20:13:48 - INFO - __main__ - ==============Epoch 67 Step 8000=============== +04/28/2025 20:13:48 - INFO - __main__ - loss_pos:0.1484, loss_rot:0.6009, loss_open:0.0178, loss_total:3.5868 +04/28/2025 20:13:48 - INFO - __main__ - =============================================== +04/28/2025 20:14:19 - INFO - __main__ - =================Validation================= +04/28/2025 20:14:19 - INFO - __main__ - total/pos_l2_err: 0.0380, total/quat_l1_err: 0.4088, total/quat_l1_ideal_err: 0.4074, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.0830, total/rot_acc_0.025: 0.2940, total/rot_acc_0.05: 0.4420, total/rot_ideal_acc_0.025: 0.2940, total/rot_ideal_acc_0.05: 0.4420, per_task/close_jar_pos_l2_err: 0.0303, per_task/close_jar_quat_l1_err: 0.2340, per_task/close_jar_quat_l1_ideal_err: 0.2340, per_task/close_jar_pos_acc_0.01: 0.0612, per_task/close_jar_rot_acc_0.025: 0.5102, per_task/close_jar_rot_acc_0.05: 0.6122, per_task/close_jar_rot_ideal_acc_0.025: 0.5102, per_task/close_jar_rot_ideal_acc_0.05: 0.6122, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0250, per_task/insert_onto_square_peg_quat_l1_err: 0.3876, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3876, per_task/insert_onto_square_peg_pos_acc_0.01: 0.1190, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3810, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5238, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3810, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5238, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0278, per_task/light_bulb_in_quat_l1_err: 0.4332, per_task/light_bulb_in_quat_l1_ideal_err: 0.4332, per_task/light_bulb_in_pos_acc_0.01: 0.0656, per_task/light_bulb_in_rot_acc_0.025: 0.4426, per_task/light_bulb_in_rot_acc_0.05: 0.5082, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4426, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5082, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0256, per_task/meat_off_grill_quat_l1_err: 0.1280, per_task/meat_off_grill_quat_l1_ideal_err: 0.1280, per_task/meat_off_grill_pos_acc_0.01: 0.1220, per_task/meat_off_grill_rot_acc_0.025: 0.5610, per_task/meat_off_grill_rot_acc_0.05: 0.7073, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5610, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7073, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0222, per_task/open_drawer_quat_l1_err: 0.8990, per_task/open_drawer_quat_l1_ideal_err: 0.8990, per_task/open_drawer_pos_acc_0.01: 0.2381, per_task/open_drawer_rot_acc_0.025: 0.0952, per_task/open_drawer_rot_acc_0.05: 0.4286, per_task/open_drawer_rot_ideal_acc_0.025: 0.0952, per_task/open_drawer_rot_ideal_acc_0.05: 0.4286, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0468, per_task/place_cups_quat_l1_err: 0.3994, per_task/place_cups_quat_l1_ideal_err: 0.3995, per_task/place_cups_pos_acc_0.01: 0.0275, per_task/place_cups_rot_acc_0.025: 0.1193, per_task/place_cups_rot_acc_0.05: 0.3211, per_task/place_cups_rot_ideal_acc_0.025: 0.1193, per_task/place_cups_rot_ideal_acc_0.05: 0.3211, per_task/place_cups_open_acc: 0.9908, per_task/place_cups_open_acc_ideal: 0.9908, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0331, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3699, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3699, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0465, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3256, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4651, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3256, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4651, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0339, per_task/place_wine_at_rack_location_quat_l1_err: 0.8241, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8241, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0250, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0250, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.1500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0250, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.1500, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0278, per_task/push_buttons_quat_l1_err: 0.0320, per_task/push_buttons_quat_l1_ideal_err: 0.0320, per_task/push_buttons_pos_acc_0.01: 0.0000, per_task/push_buttons_rot_acc_0.025: 0.7297, per_task/push_buttons_rot_acc_0.05: 0.8378, per_task/push_buttons_rot_ideal_acc_0.025: 0.7297, per_task/push_buttons_rot_ideal_acc_0.05: 0.8378, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0590, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5830, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5830, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2692, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.3846, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2692, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3846, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0191, per_task/put_item_in_drawer_quat_l1_err: 0.3948, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3948, per_task/put_item_in_drawer_pos_acc_0.01: 0.1279, per_task/put_item_in_drawer_rot_acc_0.025: 0.2326, per_task/put_item_in_drawer_rot_acc_0.05: 0.4651, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.2326, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.4651, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0243, per_task/put_money_in_safe_quat_l1_err: 0.3180, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3180, per_task/put_money_in_safe_pos_acc_0.01: 0.1111, per_task/put_money_in_safe_rot_acc_0.025: 0.0185, per_task/put_money_in_safe_rot_acc_0.05: 0.1667, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0185, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.1667, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0217, per_task/reach_and_drag_quat_l1_err: 0.3849, per_task/reach_and_drag_quat_l1_ideal_err: 0.3849, per_task/reach_and_drag_pos_acc_0.01: 0.1944, per_task/reach_and_drag_rot_acc_0.025: 0.0833, per_task/reach_and_drag_rot_acc_0.05: 0.1389, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.0833, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.1389, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0302, per_task/slide_block_to_color_target_quat_l1_err: 0.4875, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4875, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0278, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3611, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3611, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0658, per_task/stack_blocks_quat_l1_err: 0.4590, per_task/stack_blocks_quat_l1_ideal_err: 0.4487, per_task/stack_blocks_pos_acc_0.01: 0.1151, per_task/stack_blocks_rot_acc_0.025: 0.3525, per_task/stack_blocks_rot_acc_0.05: 0.5108, per_task/stack_blocks_rot_ideal_acc_0.025: 0.3525, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5108, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0267, per_task/stack_cups_quat_l1_err: 0.0711, per_task/stack_cups_quat_l1_ideal_err: 0.0711, per_task/stack_cups_pos_acc_0.01: 0.1461, per_task/stack_cups_rot_acc_0.025: 0.2809, per_task/stack_cups_rot_acc_0.05: 0.5506, per_task/stack_cups_rot_ideal_acc_0.025: 0.2809, per_task/stack_cups_rot_ideal_acc_0.05: 0.5506, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0741, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3998, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3998, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0213, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.4681, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.4681, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.4681, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.4681, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0241, per_task/turn_tap_quat_l1_err: 1.9526, per_task/turn_tap_quat_l1_ideal_err: 1.9526, per_task/turn_tap_pos_acc_0.01: 0.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 20:14:19 - INFO - __main__ - =============================================== +04/28/2025 20:21:13 - INFO - __main__ - ==============Epoch 71 Step 8500=============== +04/28/2025 20:21:13 - INFO - __main__ - loss_pos:0.1472, loss_rot:0.5806, loss_open:0.0210, loss_total:3.5462 +04/28/2025 20:21:13 - INFO - __main__ - =============================================== +04/28/2025 20:28:08 - INFO - __main__ - ==============Epoch 75 Step 9000=============== +04/28/2025 20:28:08 - INFO - __main__ - loss_pos:0.1447, loss_rot:0.5552, loss_open:0.0156, loss_total:3.4652 +04/28/2025 20:28:08 - INFO - __main__ - =============================================== +04/28/2025 20:28:39 - INFO - __main__ - =================Validation================= +04/28/2025 20:28:39 - INFO - __main__ - total/pos_l2_err: 0.0362, total/quat_l1_err: 0.4394, total/quat_l1_ideal_err: 0.4394, total/open_acc: 0.9960, total/open_acc_ideal: 0.9960, total/pos_acc_0.01: 0.0810, total/rot_acc_0.025: 0.2630, total/rot_acc_0.05: 0.4830, total/rot_ideal_acc_0.025: 0.2640, total/rot_ideal_acc_0.05: 0.4840, per_task/close_jar_pos_l2_err: 0.0230, per_task/close_jar_quat_l1_err: 0.2525, per_task/close_jar_quat_l1_ideal_err: 0.2525, per_task/close_jar_pos_acc_0.01: 0.0417, per_task/close_jar_rot_acc_0.025: 0.3542, per_task/close_jar_rot_acc_0.05: 0.6667, per_task/close_jar_rot_ideal_acc_0.025: 0.3542, per_task/close_jar_rot_ideal_acc_0.05: 0.6667, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0265, per_task/insert_onto_square_peg_quat_l1_err: 0.5966, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5966, per_task/insert_onto_square_peg_pos_acc_0.01: 0.0238, per_task/insert_onto_square_peg_rot_acc_0.025: 0.2857, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4524, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.2857, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4524, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0208, per_task/light_bulb_in_quat_l1_err: 0.4067, per_task/light_bulb_in_quat_l1_ideal_err: 0.4067, per_task/light_bulb_in_pos_acc_0.01: 0.1017, per_task/light_bulb_in_rot_acc_0.025: 0.3559, per_task/light_bulb_in_rot_acc_0.05: 0.5593, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.3559, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5593, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0207, per_task/meat_off_grill_quat_l1_err: 0.1908, per_task/meat_off_grill_quat_l1_ideal_err: 0.1908, per_task/meat_off_grill_pos_acc_0.01: 0.1250, per_task/meat_off_grill_rot_acc_0.025: 0.4375, per_task/meat_off_grill_rot_acc_0.05: 0.6875, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.4375, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6875, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0273, per_task/open_drawer_quat_l1_err: 0.7043, per_task/open_drawer_quat_l1_ideal_err: 0.7043, per_task/open_drawer_pos_acc_0.01: 0.1081, per_task/open_drawer_rot_acc_0.025: 0.3514, per_task/open_drawer_rot_acc_0.05: 0.5946, per_task/open_drawer_rot_ideal_acc_0.025: 0.3514, per_task/open_drawer_rot_ideal_acc_0.05: 0.5946, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0479, per_task/place_cups_quat_l1_err: 0.5046, per_task/place_cups_quat_l1_ideal_err: 0.5046, per_task/place_cups_pos_acc_0.01: 0.0263, per_task/place_cups_rot_acc_0.025: 0.1140, per_task/place_cups_rot_acc_0.05: 0.4298, per_task/place_cups_rot_ideal_acc_0.025: 0.1140, per_task/place_cups_rot_ideal_acc_0.05: 0.4298, per_task/place_cups_open_acc: 0.9912, per_task/place_cups_open_acc_ideal: 0.9912, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0263, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4411, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4411, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1132, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2075, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4906, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2075, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4906, per_task/place_shape_in_shape_sorter_open_acc: 0.9811, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9811, per_task/place_wine_at_rack_location_pos_l2_err: 0.0332, per_task/place_wine_at_rack_location_quat_l1_err: 0.8224, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8224, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1020, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.1633, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1020, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.1633, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0286, per_task/push_buttons_quat_l1_err: 0.0271, per_task/push_buttons_quat_l1_ideal_err: 0.0271, per_task/push_buttons_pos_acc_0.01: 0.0000, per_task/push_buttons_rot_acc_0.025: 0.7419, per_task/push_buttons_rot_acc_0.05: 0.8065, per_task/push_buttons_rot_ideal_acc_0.025: 0.7419, per_task/push_buttons_rot_ideal_acc_0.05: 0.8065, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0556, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5275, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5262, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0455, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.1136, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.2955, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.1364, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3182, per_task/put_groceries_in_cupboard_open_acc: 0.9773, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9773, per_task/put_item_in_drawer_pos_l2_err: 0.0213, per_task/put_item_in_drawer_quat_l1_err: 0.4301, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4301, per_task/put_item_in_drawer_pos_acc_0.01: 0.1574, per_task/put_item_in_drawer_rot_acc_0.025: 0.2130, per_task/put_item_in_drawer_rot_acc_0.05: 0.4722, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.2130, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.4722, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0275, per_task/put_money_in_safe_quat_l1_err: 0.2933, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2933, per_task/put_money_in_safe_pos_acc_0.01: 0.0435, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.2391, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.2391, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0215, per_task/reach_and_drag_quat_l1_err: 0.4155, per_task/reach_and_drag_quat_l1_ideal_err: 0.4155, per_task/reach_and_drag_pos_acc_0.01: 0.0714, per_task/reach_and_drag_rot_acc_0.025: 0.1429, per_task/reach_and_drag_rot_acc_0.05: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1429, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3333, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0307, per_task/slide_block_to_color_target_quat_l1_err: 0.4467, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4467, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0370, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4074, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4074, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0651, per_task/stack_blocks_quat_l1_err: 0.4327, per_task/stack_blocks_quat_l1_ideal_err: 0.4327, per_task/stack_blocks_pos_acc_0.01: 0.1094, per_task/stack_blocks_rot_acc_0.025: 0.3203, per_task/stack_blocks_rot_acc_0.05: 0.5781, per_task/stack_blocks_rot_ideal_acc_0.025: 0.3203, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5781, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0359, per_task/stack_cups_quat_l1_err: 0.1318, per_task/stack_cups_quat_l1_ideal_err: 0.1318, per_task/stack_cups_pos_acc_0.01: 0.1236, per_task/stack_cups_rot_acc_0.025: 0.3146, per_task/stack_cups_rot_acc_0.05: 0.5730, per_task/stack_cups_rot_ideal_acc_0.025: 0.3146, per_task/stack_cups_rot_ideal_acc_0.05: 0.5730, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0627, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3073, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3073, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0938, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6875, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6875, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6875, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6875, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0231, per_task/turn_tap_quat_l1_err: 1.8121, per_task/turn_tap_quat_l1_ideal_err: 1.8121, per_task/turn_tap_pos_acc_0.01: 0.1053, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9474, per_task/turn_tap_open_acc_ideal: 0.9474 +04/28/2025 20:28:39 - INFO - __main__ - =============================================== +04/28/2025 20:35:35 - INFO - __main__ - ==============Epoch 79 Step 9500=============== +04/28/2025 20:35:35 - INFO - __main__ - loss_pos:0.1419, loss_rot:0.5346, loss_open:0.0179, loss_total:3.3905 +04/28/2025 20:35:35 - INFO - __main__ - =============================================== +04/28/2025 20:42:28 - INFO - __main__ - ==============Epoch 84 Step 10000=============== +04/28/2025 20:42:28 - INFO - __main__ - loss_pos:0.1400, loss_rot:0.5231, loss_open:0.0167, loss_total:3.3400 +04/28/2025 20:42:28 - INFO - __main__ - =============================================== +04/28/2025 20:42:59 - INFO - __main__ - =================Validation================= +04/28/2025 20:42:59 - INFO - __main__ - total/pos_l2_err: 0.0312, total/quat_l1_err: 0.3432, total/quat_l1_ideal_err: 0.3432, total/open_acc: 0.9920, total/open_acc_ideal: 0.9920, total/pos_acc_0.01: 0.1490, total/rot_acc_0.025: 0.3180, total/rot_acc_0.05: 0.5110, total/rot_ideal_acc_0.025: 0.3180, total/rot_ideal_acc_0.05: 0.5110, per_task/close_jar_pos_l2_err: 0.0175, per_task/close_jar_quat_l1_err: 0.2407, per_task/close_jar_quat_l1_ideal_err: 0.2407, per_task/close_jar_pos_acc_0.01: 0.1864, per_task/close_jar_rot_acc_0.025: 0.4915, per_task/close_jar_rot_acc_0.05: 0.6780, per_task/close_jar_rot_ideal_acc_0.025: 0.4915, per_task/close_jar_rot_ideal_acc_0.05: 0.6780, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0180, per_task/insert_onto_square_peg_quat_l1_err: 0.3420, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3420, per_task/insert_onto_square_peg_pos_acc_0.01: 0.1316, per_task/insert_onto_square_peg_rot_acc_0.025: 0.2105, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4737, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.2105, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4737, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0214, per_task/light_bulb_in_quat_l1_err: 0.4955, per_task/light_bulb_in_quat_l1_ideal_err: 0.4955, per_task/light_bulb_in_pos_acc_0.01: 0.1864, per_task/light_bulb_in_rot_acc_0.025: 0.4068, per_task/light_bulb_in_rot_acc_0.05: 0.4407, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4068, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4407, per_task/light_bulb_in_open_acc: 0.9492, per_task/light_bulb_in_open_acc_ideal: 0.9492, per_task/meat_off_grill_pos_l2_err: 0.0183, per_task/meat_off_grill_quat_l1_err: 0.2254, per_task/meat_off_grill_quat_l1_ideal_err: 0.2254, per_task/meat_off_grill_pos_acc_0.01: 0.1522, per_task/meat_off_grill_rot_acc_0.025: 0.5217, per_task/meat_off_grill_rot_acc_0.05: 0.7174, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5217, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7174, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0351, per_task/open_drawer_quat_l1_err: 1.0234, per_task/open_drawer_quat_l1_ideal_err: 1.0234, per_task/open_drawer_pos_acc_0.01: 0.0500, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.5500, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.5500, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0410, per_task/place_cups_quat_l1_err: 0.2613, per_task/place_cups_quat_l1_ideal_err: 0.2613, per_task/place_cups_pos_acc_0.01: 0.1121, per_task/place_cups_rot_acc_0.025: 0.1638, per_task/place_cups_rot_acc_0.05: 0.5603, per_task/place_cups_rot_ideal_acc_0.025: 0.1638, per_task/place_cups_rot_ideal_acc_0.05: 0.5603, per_task/place_cups_open_acc: 0.9741, per_task/place_cups_open_acc_ideal: 0.9741, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0256, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3395, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3395, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0294, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2647, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3824, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2647, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3824, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0226, per_task/place_wine_at_rack_location_quat_l1_err: 0.6141, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6141, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1212, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1515, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3030, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1515, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3030, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0262, per_task/push_buttons_quat_l1_err: 0.0403, per_task/push_buttons_quat_l1_ideal_err: 0.0403, per_task/push_buttons_pos_acc_0.01: 0.2439, per_task/push_buttons_rot_acc_0.025: 0.6829, per_task/push_buttons_rot_acc_0.05: 0.7317, per_task/push_buttons_rot_ideal_acc_0.025: 0.6829, per_task/push_buttons_rot_ideal_acc_0.05: 0.7317, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0779, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4561, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4561, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0263, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2368, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.3684, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2368, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3684, per_task/put_groceries_in_cupboard_open_acc: 0.9737, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9737, per_task/put_item_in_drawer_pos_l2_err: 0.0153, per_task/put_item_in_drawer_quat_l1_err: 0.3498, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3498, per_task/put_item_in_drawer_pos_acc_0.01: 0.2604, per_task/put_item_in_drawer_rot_acc_0.025: 0.3854, per_task/put_item_in_drawer_rot_acc_0.05: 0.6771, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.3854, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6771, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0260, per_task/put_money_in_safe_quat_l1_err: 0.3978, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3978, per_task/put_money_in_safe_pos_acc_0.01: 0.1053, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.2368, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.2368, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0207, per_task/reach_and_drag_quat_l1_err: 0.2261, per_task/reach_and_drag_quat_l1_ideal_err: 0.2261, per_task/reach_and_drag_pos_acc_0.01: 0.1818, per_task/reach_and_drag_rot_acc_0.025: 0.1091, per_task/reach_and_drag_rot_acc_0.05: 0.1636, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1091, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.1636, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0231, per_task/slide_block_to_color_target_quat_l1_err: 0.4649, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4649, per_task/slide_block_to_color_target_pos_acc_0.01: 0.1000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2250, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2250, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0442, per_task/stack_blocks_quat_l1_err: 0.2934, per_task/stack_blocks_quat_l1_ideal_err: 0.2937, per_task/stack_blocks_pos_acc_0.01: 0.1462, per_task/stack_blocks_rot_acc_0.025: 0.4462, per_task/stack_blocks_rot_acc_0.05: 0.6231, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4462, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6231, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0328, per_task/stack_cups_quat_l1_err: 0.0689, per_task/stack_cups_quat_l1_ideal_err: 0.0685, per_task/stack_cups_pos_acc_0.01: 0.1739, per_task/stack_cups_rot_acc_0.025: 0.3152, per_task/stack_cups_rot_acc_0.05: 0.5761, per_task/stack_cups_rot_ideal_acc_0.025: 0.3152, per_task/stack_cups_rot_ideal_acc_0.05: 0.5761, per_task/stack_cups_open_acc: 0.9891, per_task/stack_cups_open_acc_ideal: 0.9891, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0598, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2779, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2779, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0698, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.4186, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.4186, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.4186, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.4186, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0203, per_task/turn_tap_quat_l1_err: 1.7586, per_task/turn_tap_quat_l1_ideal_err: 1.7586, per_task/turn_tap_pos_acc_0.01: 0.1818, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 20:42:59 - INFO - __main__ - =============================================== +04/28/2025 20:49:54 - INFO - __main__ - ==============Epoch 88 Step 10500=============== +04/28/2025 20:49:54 - INFO - __main__ - loss_pos:0.1403, loss_rot:0.5108, loss_open:0.0144, loss_total:3.3318 +04/28/2025 20:49:54 - INFO - __main__ - =============================================== +04/28/2025 20:56:48 - INFO - __main__ - ==============Epoch 92 Step 11000=============== +04/28/2025 20:56:48 - INFO - __main__ - loss_pos:0.1384, loss_rot:0.4987, loss_open:0.0189, loss_total:3.2856 +04/28/2025 20:56:48 - INFO - __main__ - =============================================== +04/28/2025 20:57:20 - INFO - __main__ - =================Validation================= +04/28/2025 20:57:20 - INFO - __main__ - total/pos_l2_err: 0.0285, total/quat_l1_err: 0.3875, total/quat_l1_ideal_err: 0.3888, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.1210, total/rot_acc_0.025: 0.3610, total/rot_acc_0.05: 0.5500, total/rot_ideal_acc_0.025: 0.3610, total/rot_ideal_acc_0.05: 0.5500, per_task/close_jar_pos_l2_err: 0.0195, per_task/close_jar_quat_l1_err: 0.1971, per_task/close_jar_quat_l1_ideal_err: 0.1971, per_task/close_jar_pos_acc_0.01: 0.1064, per_task/close_jar_rot_acc_0.025: 0.5532, per_task/close_jar_rot_acc_0.05: 0.7447, per_task/close_jar_rot_ideal_acc_0.025: 0.5532, per_task/close_jar_rot_ideal_acc_0.05: 0.7447, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0193, per_task/insert_onto_square_peg_quat_l1_err: 0.4064, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4064, per_task/insert_onto_square_peg_pos_acc_0.01: 0.1400, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4600, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6400, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4600, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6400, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0197, per_task/light_bulb_in_quat_l1_err: 0.3667, per_task/light_bulb_in_quat_l1_ideal_err: 0.3667, per_task/light_bulb_in_pos_acc_0.01: 0.2456, per_task/light_bulb_in_rot_acc_0.025: 0.4035, per_task/light_bulb_in_rot_acc_0.05: 0.5439, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4035, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5439, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0224, per_task/meat_off_grill_quat_l1_err: 0.1948, per_task/meat_off_grill_quat_l1_ideal_err: 0.1948, per_task/meat_off_grill_pos_acc_0.01: 0.0392, per_task/meat_off_grill_rot_acc_0.025: 0.6471, per_task/meat_off_grill_rot_acc_0.05: 0.7647, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6471, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7647, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0151, per_task/open_drawer_quat_l1_err: 0.6379, per_task/open_drawer_quat_l1_ideal_err: 0.6379, per_task/open_drawer_pos_acc_0.01: 0.1333, per_task/open_drawer_rot_acc_0.025: 0.4333, per_task/open_drawer_rot_acc_0.05: 0.6000, per_task/open_drawer_rot_ideal_acc_0.025: 0.4333, per_task/open_drawer_rot_ideal_acc_0.05: 0.6000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0398, per_task/place_cups_quat_l1_err: 0.4107, per_task/place_cups_quat_l1_ideal_err: 0.4107, per_task/place_cups_pos_acc_0.01: 0.1875, per_task/place_cups_rot_acc_0.025: 0.1875, per_task/place_cups_rot_acc_0.05: 0.5089, per_task/place_cups_rot_ideal_acc_0.025: 0.1875, per_task/place_cups_rot_ideal_acc_0.05: 0.5089, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0278, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4988, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4988, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0769, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2564, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3846, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2564, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3846, per_task/place_shape_in_shape_sorter_open_acc: 0.9744, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9744, per_task/place_wine_at_rack_location_pos_l2_err: 0.0221, per_task/place_wine_at_rack_location_quat_l1_err: 0.6046, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6046, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1277, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1702, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2766, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1702, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2766, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0203, per_task/push_buttons_quat_l1_err: 0.0607, per_task/push_buttons_quat_l1_ideal_err: 0.0607, per_task/push_buttons_pos_acc_0.01: 0.0741, per_task/push_buttons_rot_acc_0.025: 0.4815, per_task/push_buttons_rot_acc_0.05: 0.5926, per_task/push_buttons_rot_ideal_acc_0.025: 0.4815, per_task/push_buttons_rot_ideal_acc_0.05: 0.5926, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0477, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7114, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7114, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.1707, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4146, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.1707, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4146, per_task/put_groceries_in_cupboard_open_acc: 0.9756, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9756, per_task/put_item_in_drawer_pos_l2_err: 0.0159, per_task/put_item_in_drawer_quat_l1_err: 0.3476, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3476, per_task/put_item_in_drawer_pos_acc_0.01: 0.1927, per_task/put_item_in_drawer_rot_acc_0.025: 0.3853, per_task/put_item_in_drawer_rot_acc_0.05: 0.5872, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.3853, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.5872, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0247, per_task/put_money_in_safe_quat_l1_err: 0.3632, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3632, per_task/put_money_in_safe_pos_acc_0.01: 0.1389, per_task/put_money_in_safe_rot_acc_0.025: 0.0278, per_task/put_money_in_safe_rot_acc_0.05: 0.4444, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0278, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4444, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0160, per_task/reach_and_drag_quat_l1_err: 0.2442, per_task/reach_and_drag_quat_l1_ideal_err: 0.2442, per_task/reach_and_drag_pos_acc_0.01: 0.1136, per_task/reach_and_drag_rot_acc_0.025: 0.4318, per_task/reach_and_drag_rot_acc_0.05: 0.4773, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.4318, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4773, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0214, per_task/slide_block_to_color_target_quat_l1_err: 0.5356, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5356, per_task/slide_block_to_color_target_pos_acc_0.01: 0.1250, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2188, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3438, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2188, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3438, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0463, per_task/stack_blocks_quat_l1_err: 0.3154, per_task/stack_blocks_quat_l1_ideal_err: 0.3243, per_task/stack_blocks_pos_acc_0.01: 0.0719, per_task/stack_blocks_rot_acc_0.025: 0.4314, per_task/stack_blocks_rot_acc_0.05: 0.6471, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4314, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6471, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0277, per_task/stack_cups_quat_l1_err: 0.2920, per_task/stack_cups_quat_l1_ideal_err: 0.2920, per_task/stack_cups_pos_acc_0.01: 0.1053, per_task/stack_cups_rot_acc_0.025: 0.3421, per_task/stack_cups_rot_acc_0.05: 0.5658, per_task/stack_cups_rot_ideal_acc_0.025: 0.3421, per_task/stack_cups_rot_ideal_acc_0.05: 0.5658, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0386, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3733, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3733, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.0263, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6053, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6053, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6053, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6053, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0164, per_task/turn_tap_quat_l1_err: 1.7939, per_task/turn_tap_quat_l1_ideal_err: 1.7939, per_task/turn_tap_pos_acc_0.01: 0.1818, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9091, per_task/turn_tap_open_acc_ideal: 0.9091 +04/28/2025 20:57:20 - INFO - __main__ - =============================================== +04/28/2025 21:04:11 - INFO - __main__ - ==============Epoch 96 Step 11500=============== +04/28/2025 21:04:11 - INFO - __main__ - loss_pos:0.1382, loss_rot:0.4782, loss_open:0.0169, loss_total:3.2591 +04/28/2025 21:04:11 - INFO - __main__ - =============================================== +04/28/2025 21:11:06 - INFO - __main__ - ==============Epoch 100 Step 12000=============== +04/28/2025 21:11:06 - INFO - __main__ - loss_pos:0.1360, loss_rot:0.4591, loss_open:0.0162, loss_total:3.1946 +04/28/2025 21:11:06 - INFO - __main__ - =============================================== +04/28/2025 21:11:38 - INFO - __main__ - =================Validation================= +04/28/2025 21:11:38 - INFO - __main__ - total/pos_l2_err: 0.0264, total/quat_l1_err: 0.4118, total/quat_l1_ideal_err: 0.4117, total/open_acc: 0.9958, total/open_acc_ideal: 0.9958, total/pos_acc_0.01: 0.1847, total/rot_acc_0.025: 0.3631, total/rot_acc_0.05: 0.5331, total/rot_ideal_acc_0.025: 0.3631, total/rot_ideal_acc_0.05: 0.5331, per_task/close_jar_pos_l2_err: 0.0145, per_task/close_jar_quat_l1_err: 0.2381, per_task/close_jar_quat_l1_ideal_err: 0.2381, per_task/close_jar_pos_acc_0.01: 0.2800, per_task/close_jar_rot_acc_0.025: 0.4800, per_task/close_jar_rot_acc_0.05: 0.5800, per_task/close_jar_rot_ideal_acc_0.025: 0.4800, per_task/close_jar_rot_ideal_acc_0.05: 0.5800, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0163, per_task/insert_onto_square_peg_quat_l1_err: 0.4848, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4834, per_task/insert_onto_square_peg_pos_acc_0.01: 0.1860, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3256, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5349, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3256, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5349, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0226, per_task/light_bulb_in_quat_l1_err: 0.4295, per_task/light_bulb_in_quat_l1_ideal_err: 0.4295, per_task/light_bulb_in_pos_acc_0.01: 0.1667, per_task/light_bulb_in_rot_acc_0.025: 0.5000, per_task/light_bulb_in_rot_acc_0.05: 0.6296, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6296, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0150, per_task/meat_off_grill_quat_l1_err: 0.2676, per_task/meat_off_grill_quat_l1_ideal_err: 0.2676, per_task/meat_off_grill_pos_acc_0.01: 0.1750, per_task/meat_off_grill_rot_acc_0.025: 0.4750, per_task/meat_off_grill_rot_acc_0.05: 0.7750, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.4750, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7750, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0199, per_task/open_drawer_quat_l1_err: 0.5599, per_task/open_drawer_quat_l1_ideal_err: 0.5599, per_task/open_drawer_pos_acc_0.01: 0.2727, per_task/open_drawer_rot_acc_0.025: 0.3636, per_task/open_drawer_rot_acc_0.05: 0.5455, per_task/open_drawer_rot_ideal_acc_0.025: 0.3636, per_task/open_drawer_rot_ideal_acc_0.05: 0.5455, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0364, per_task/place_cups_quat_l1_err: 0.4366, per_task/place_cups_quat_l1_ideal_err: 0.4366, per_task/place_cups_pos_acc_0.01: 0.1168, per_task/place_cups_rot_acc_0.025: 0.2044, per_task/place_cups_rot_acc_0.05: 0.5036, per_task/place_cups_rot_ideal_acc_0.025: 0.2044, per_task/place_cups_rot_ideal_acc_0.05: 0.5036, per_task/place_cups_open_acc: 0.9927, per_task/place_cups_open_acc_ideal: 0.9927, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0211, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4832, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4832, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1795, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3333, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4872, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3333, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4872, per_task/place_shape_in_shape_sorter_open_acc: 0.9487, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9487, per_task/place_wine_at_rack_location_pos_l2_err: 0.0286, per_task/place_wine_at_rack_location_quat_l1_err: 0.8146, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8146, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0541, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0270, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2432, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0270, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2432, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0159, per_task/push_buttons_quat_l1_err: 0.0463, per_task/push_buttons_quat_l1_ideal_err: 0.0463, per_task/push_buttons_pos_acc_0.01: 0.2143, per_task/push_buttons_rot_acc_0.025: 0.6429, per_task/push_buttons_rot_acc_0.05: 0.6429, per_task/push_buttons_rot_ideal_acc_0.025: 0.6429, per_task/push_buttons_rot_ideal_acc_0.05: 0.6429, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0457, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5717, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5717, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0256, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2308, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4103, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2308, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4103, per_task/put_groceries_in_cupboard_open_acc: 0.9744, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9744, per_task/put_item_in_drawer_pos_l2_err: 0.0140, per_task/put_item_in_drawer_quat_l1_err: 0.4730, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4730, per_task/put_item_in_drawer_pos_acc_0.01: 0.2941, per_task/put_item_in_drawer_rot_acc_0.025: 0.3765, per_task/put_item_in_drawer_rot_acc_0.05: 0.5882, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.3765, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.5882, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0190, per_task/put_money_in_safe_quat_l1_err: 0.2864, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2864, per_task/put_money_in_safe_pos_acc_0.01: 0.1282, per_task/put_money_in_safe_rot_acc_0.025: 0.1026, per_task/put_money_in_safe_rot_acc_0.05: 0.3333, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.1026, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3333, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0148, per_task/reach_and_drag_quat_l1_err: 0.2825, per_task/reach_and_drag_quat_l1_ideal_err: 0.2825, per_task/reach_and_drag_pos_acc_0.01: 0.3125, per_task/reach_and_drag_rot_acc_0.025: 0.4167, per_task/reach_and_drag_rot_acc_0.05: 0.5417, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.4167, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5417, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0207, per_task/slide_block_to_color_target_quat_l1_err: 0.5354, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5354, per_task/slide_block_to_color_target_pos_acc_0.01: 0.1000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2000, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2000, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0378, per_task/stack_blocks_quat_l1_err: 0.3615, per_task/stack_blocks_quat_l1_ideal_err: 0.3615, per_task/stack_blocks_pos_acc_0.01: 0.2240, per_task/stack_blocks_rot_acc_0.025: 0.5200, per_task/stack_blocks_rot_acc_0.05: 0.6160, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5200, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6160, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0362, per_task/stack_cups_quat_l1_err: 0.1258, per_task/stack_cups_quat_l1_ideal_err: 0.1258, per_task/stack_cups_pos_acc_0.01: 0.2208, per_task/stack_cups_rot_acc_0.025: 0.4416, per_task/stack_cups_rot_acc_0.05: 0.5974, per_task/stack_cups_rot_ideal_acc_0.025: 0.4416, per_task/stack_cups_rot_ideal_acc_0.05: 0.5974, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0290, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3659, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3659, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.1190, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5714, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5714, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0221, per_task/turn_tap_quat_l1_err: 1.6558, per_task/turn_tap_quat_l1_ideal_err: 1.6558, per_task/turn_tap_pos_acc_0.01: 0.1111, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 21:11:38 - INFO - __main__ - =============================================== +04/28/2025 21:18:41 - INFO - __main__ - ==============Epoch 105 Step 12500=============== +04/28/2025 21:18:41 - INFO - __main__ - loss_pos:0.1337, loss_rot:0.4522, loss_open:0.0147, loss_total:3.1409 +04/28/2025 21:18:41 - INFO - __main__ - =============================================== +04/28/2025 21:25:37 - INFO - __main__ - ==============Epoch 109 Step 13000=============== +04/28/2025 21:25:37 - INFO - __main__ - loss_pos:0.1344, loss_rot:0.4515, loss_open:0.0210, loss_total:3.1605 +04/28/2025 21:25:37 - INFO - __main__ - =============================================== +04/28/2025 21:26:08 - INFO - __main__ - =================Validation================= +04/28/2025 21:26:08 - INFO - __main__ - total/pos_l2_err: 0.0279, total/quat_l1_err: 0.3653, total/quat_l1_ideal_err: 0.3654, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.1430, total/rot_acc_0.025: 0.3880, total/rot_acc_0.05: 0.5660, total/rot_ideal_acc_0.025: 0.3880, total/rot_ideal_acc_0.05: 0.5660, per_task/close_jar_pos_l2_err: 0.0149, per_task/close_jar_quat_l1_err: 0.2351, per_task/close_jar_quat_l1_ideal_err: 0.2351, per_task/close_jar_pos_acc_0.01: 0.2553, per_task/close_jar_rot_acc_0.025: 0.4468, per_task/close_jar_rot_acc_0.05: 0.6596, per_task/close_jar_rot_ideal_acc_0.025: 0.4468, per_task/close_jar_rot_ideal_acc_0.05: 0.6596, per_task/close_jar_open_acc: 0.9787, per_task/close_jar_open_acc_ideal: 0.9787, per_task/insert_onto_square_peg_pos_l2_err: 0.0175, per_task/insert_onto_square_peg_quat_l1_err: 0.3790, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3790, per_task/insert_onto_square_peg_pos_acc_0.01: 0.1935, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4839, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6129, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4839, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6129, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0192, per_task/light_bulb_in_quat_l1_err: 0.3920, per_task/light_bulb_in_quat_l1_ideal_err: 0.3920, per_task/light_bulb_in_pos_acc_0.01: 0.1143, per_task/light_bulb_in_rot_acc_0.025: 0.5714, per_task/light_bulb_in_rot_acc_0.05: 0.6571, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5714, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6571, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0179, per_task/meat_off_grill_quat_l1_err: 0.1302, per_task/meat_off_grill_quat_l1_ideal_err: 0.1302, per_task/meat_off_grill_pos_acc_0.01: 0.2500, per_task/meat_off_grill_rot_acc_0.025: 0.6136, per_task/meat_off_grill_rot_acc_0.05: 0.8636, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6136, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8636, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0125, per_task/open_drawer_quat_l1_err: 1.0532, per_task/open_drawer_quat_l1_ideal_err: 1.0532, per_task/open_drawer_pos_acc_0.01: 0.3500, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.5000, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.5000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0362, per_task/place_cups_quat_l1_err: 0.3035, per_task/place_cups_quat_l1_ideal_err: 0.3035, per_task/place_cups_pos_acc_0.01: 0.1333, per_task/place_cups_rot_acc_0.025: 0.2417, per_task/place_cups_rot_acc_0.05: 0.5750, per_task/place_cups_rot_ideal_acc_0.025: 0.2417, per_task/place_cups_rot_ideal_acc_0.05: 0.5750, per_task/place_cups_open_acc: 0.9833, per_task/place_cups_open_acc_ideal: 0.9833, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0521, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.2590, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.2608, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0294, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3235, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5294, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3235, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5294, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0399, per_task/place_wine_at_rack_location_quat_l1_err: 1.1003, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1003, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0638, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0851, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.1702, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0851, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.1702, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0226, per_task/push_buttons_quat_l1_err: 0.0509, per_task/push_buttons_quat_l1_ideal_err: 0.0509, per_task/push_buttons_pos_acc_0.01: 0.0357, per_task/push_buttons_rot_acc_0.025: 0.6071, per_task/push_buttons_rot_acc_0.05: 0.6071, per_task/push_buttons_rot_ideal_acc_0.025: 0.6071, per_task/push_buttons_rot_ideal_acc_0.05: 0.6071, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0392, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6034, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6034, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3056, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3056, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5000, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0141, per_task/put_item_in_drawer_quat_l1_err: 0.2538, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2538, per_task/put_item_in_drawer_pos_acc_0.01: 0.2667, per_task/put_item_in_drawer_rot_acc_0.025: 0.5667, per_task/put_item_in_drawer_rot_acc_0.05: 0.7556, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5667, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7556, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0196, per_task/put_money_in_safe_quat_l1_err: 0.2677, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2677, per_task/put_money_in_safe_pos_acc_0.01: 0.2222, per_task/put_money_in_safe_rot_acc_0.025: 0.0317, per_task/put_money_in_safe_rot_acc_0.05: 0.3333, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0317, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3333, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0183, per_task/reach_and_drag_quat_l1_err: 0.2973, per_task/reach_and_drag_quat_l1_ideal_err: 0.2973, per_task/reach_and_drag_pos_acc_0.01: 0.2000, per_task/reach_and_drag_rot_acc_0.025: 0.2667, per_task/reach_and_drag_rot_acc_0.05: 0.4333, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2667, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4333, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0234, per_task/slide_block_to_color_target_quat_l1_err: 0.6480, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6480, per_task/slide_block_to_color_target_pos_acc_0.01: 0.0345, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3448, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4138, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3448, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4138, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0456, per_task/stack_blocks_quat_l1_err: 0.3115, per_task/stack_blocks_quat_l1_ideal_err: 0.3115, per_task/stack_blocks_pos_acc_0.01: 0.0576, per_task/stack_blocks_rot_acc_0.025: 0.4820, per_task/stack_blocks_rot_acc_0.05: 0.6259, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4820, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6259, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0208, per_task/stack_cups_quat_l1_err: 0.0851, per_task/stack_cups_quat_l1_ideal_err: 0.0851, per_task/stack_cups_pos_acc_0.01: 0.1183, per_task/stack_cups_rot_acc_0.025: 0.4086, per_task/stack_cups_rot_acc_0.05: 0.5914, per_task/stack_cups_rot_ideal_acc_0.025: 0.4086, per_task/stack_cups_rot_ideal_acc_0.05: 0.5914, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0383, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3681, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3681, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.1765, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6765, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6765, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6765, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6765, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0234, per_task/turn_tap_quat_l1_err: 1.8773, per_task/turn_tap_quat_l1_ideal_err: 1.8773, per_task/turn_tap_pos_acc_0.01: 0.1333, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 21:26:08 - INFO - __main__ - =============================================== +04/28/2025 21:33:01 - INFO - __main__ - ==============Epoch 113 Step 13500=============== +04/28/2025 21:33:01 - INFO - __main__ - loss_pos:0.1327, loss_rot:0.4335, loss_open:0.0125, loss_total:3.1001 +04/28/2025 21:33:01 - INFO - __main__ - =============================================== +04/28/2025 21:39:53 - INFO - __main__ - ==============Epoch 117 Step 14000=============== +04/28/2025 21:39:53 - INFO - __main__ - loss_pos:0.1320, loss_rot:0.4270, loss_open:0.0178, loss_total:3.0847 +04/28/2025 21:39:53 - INFO - __main__ - =============================================== +04/28/2025 21:40:24 - INFO - __main__ - =================Validation================= +04/28/2025 21:40:24 - INFO - __main__ - total/pos_l2_err: 0.0262, total/quat_l1_err: 0.3568, total/quat_l1_ideal_err: 0.3568, total/open_acc: 0.9960, total/open_acc_ideal: 0.9960, total/pos_acc_0.01: 0.2340, total/rot_acc_0.025: 0.3520, total/rot_acc_0.05: 0.5670, total/rot_ideal_acc_0.025: 0.3520, total/rot_ideal_acc_0.05: 0.5670, per_task/close_jar_pos_l2_err: 0.0143, per_task/close_jar_quat_l1_err: 0.1823, per_task/close_jar_quat_l1_ideal_err: 0.1823, per_task/close_jar_pos_acc_0.01: 0.3750, per_task/close_jar_rot_acc_0.025: 0.4821, per_task/close_jar_rot_acc_0.05: 0.6429, per_task/close_jar_rot_ideal_acc_0.025: 0.4821, per_task/close_jar_rot_ideal_acc_0.05: 0.6429, per_task/close_jar_open_acc: 0.9821, per_task/close_jar_open_acc_ideal: 0.9821, per_task/insert_onto_square_peg_pos_l2_err: 0.0153, per_task/insert_onto_square_peg_quat_l1_err: 0.2753, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2753, per_task/insert_onto_square_peg_pos_acc_0.01: 0.2750, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4750, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4750, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0170, per_task/light_bulb_in_quat_l1_err: 0.2504, per_task/light_bulb_in_quat_l1_ideal_err: 0.2504, per_task/light_bulb_in_pos_acc_0.01: 0.3725, per_task/light_bulb_in_rot_acc_0.025: 0.4510, per_task/light_bulb_in_rot_acc_0.05: 0.6667, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4510, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6667, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0156, per_task/meat_off_grill_quat_l1_err: 0.2411, per_task/meat_off_grill_quat_l1_ideal_err: 0.2411, per_task/meat_off_grill_pos_acc_0.01: 0.3243, per_task/meat_off_grill_rot_acc_0.025: 0.4054, per_task/meat_off_grill_rot_acc_0.05: 0.7027, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.4054, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7027, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0155, per_task/open_drawer_quat_l1_err: 1.2242, per_task/open_drawer_quat_l1_ideal_err: 1.2242, per_task/open_drawer_pos_acc_0.01: 0.0952, per_task/open_drawer_rot_acc_0.025: 0.2381, per_task/open_drawer_rot_acc_0.05: 0.4286, per_task/open_drawer_rot_ideal_acc_0.025: 0.2381, per_task/open_drawer_rot_ideal_acc_0.05: 0.4286, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0429, per_task/place_cups_quat_l1_err: 0.4244, per_task/place_cups_quat_l1_ideal_err: 0.4254, per_task/place_cups_pos_acc_0.01: 0.1797, per_task/place_cups_rot_acc_0.025: 0.1094, per_task/place_cups_rot_acc_0.05: 0.4375, per_task/place_cups_rot_ideal_acc_0.025: 0.1094, per_task/place_cups_rot_ideal_acc_0.05: 0.4375, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0209, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4364, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4364, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1628, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3488, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4884, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3488, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4884, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0251, per_task/place_wine_at_rack_location_quat_l1_err: 0.7944, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7944, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.0682, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2045, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3182, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2045, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3182, per_task/place_wine_at_rack_location_open_acc: 0.9773, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9773, per_task/push_buttons_pos_l2_err: 0.0157, per_task/push_buttons_quat_l1_err: 0.0524, per_task/push_buttons_quat_l1_ideal_err: 0.0524, per_task/push_buttons_pos_acc_0.01: 0.2857, per_task/push_buttons_rot_acc_0.025: 0.6190, per_task/push_buttons_rot_acc_0.05: 0.6190, per_task/push_buttons_rot_ideal_acc_0.025: 0.6190, per_task/push_buttons_rot_ideal_acc_0.05: 0.6190, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0386, per_task/put_groceries_in_cupboard_quat_l1_err: 0.3883, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.3883, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0208, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2500, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4792, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4792, per_task/put_groceries_in_cupboard_open_acc: 0.9792, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9792, per_task/put_item_in_drawer_pos_l2_err: 0.0135, per_task/put_item_in_drawer_quat_l1_err: 0.4150, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4150, per_task/put_item_in_drawer_pos_acc_0.01: 0.2653, per_task/put_item_in_drawer_rot_acc_0.025: 0.4286, per_task/put_item_in_drawer_rot_acc_0.05: 0.6531, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4286, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6531, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0216, per_task/put_money_in_safe_quat_l1_err: 0.2200, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2200, per_task/put_money_in_safe_pos_acc_0.01: 0.0294, per_task/put_money_in_safe_rot_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_acc_0.05: 0.5588, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5588, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0154, per_task/reach_and_drag_quat_l1_err: 0.2020, per_task/reach_and_drag_quat_l1_ideal_err: 0.2020, per_task/reach_and_drag_pos_acc_0.01: 0.4146, per_task/reach_and_drag_rot_acc_0.025: 0.2439, per_task/reach_and_drag_rot_acc_0.05: 0.5366, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2439, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5366, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0182, per_task/slide_block_to_color_target_quat_l1_err: 0.3861, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3861, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2571, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3429, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5143, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3429, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5143, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0387, per_task/stack_blocks_quat_l1_err: 0.2849, per_task/stack_blocks_quat_l1_ideal_err: 0.2845, per_task/stack_blocks_pos_acc_0.01: 0.2424, per_task/stack_blocks_rot_acc_0.025: 0.4773, per_task/stack_blocks_rot_acc_0.05: 0.6515, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4773, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6515, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0255, per_task/stack_cups_quat_l1_err: 0.1135, per_task/stack_cups_quat_l1_ideal_err: 0.1135, per_task/stack_cups_pos_acc_0.01: 0.2637, per_task/stack_cups_rot_acc_0.025: 0.3297, per_task/stack_cups_rot_acc_0.05: 0.6593, per_task/stack_cups_rot_ideal_acc_0.025: 0.3297, per_task/stack_cups_rot_ideal_acc_0.05: 0.6593, per_task/stack_cups_open_acc: 0.9890, per_task/stack_cups_open_acc_ideal: 0.9890, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0497, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2787, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2787, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.2195, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7073, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7073, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7073, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7073, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0145, per_task/turn_tap_quat_l1_err: 1.6637, per_task/turn_tap_quat_l1_ideal_err: 1.6637, per_task/turn_tap_pos_acc_0.01: 0.2778, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 21:40:24 - INFO - __main__ - =============================================== +04/28/2025 21:47:16 - INFO - __main__ - ==============Epoch 121 Step 14500=============== +04/28/2025 21:47:16 - INFO - __main__ - loss_pos:0.1311, loss_rot:0.4227, loss_open:0.0133, loss_total:3.0583 +04/28/2025 21:47:16 - INFO - __main__ - =============================================== +04/28/2025 21:54:13 - INFO - __main__ - ==============Epoch 126 Step 15000=============== +04/28/2025 21:54:13 - INFO - __main__ - loss_pos:0.1292, loss_rot:0.4113, loss_open:0.0144, loss_total:3.0100 +04/28/2025 21:54:13 - INFO - __main__ - =============================================== +04/28/2025 21:54:44 - INFO - __main__ - =================Validation================= +04/28/2025 21:54:44 - INFO - __main__ - total/pos_l2_err: 0.0239, total/quat_l1_err: 0.3597, total/quat_l1_ideal_err: 0.3601, total/open_acc: 0.9970, total/open_acc_ideal: 0.9960, total/pos_acc_0.01: 0.2400, total/rot_acc_0.025: 0.3960, total/rot_acc_0.05: 0.5880, total/rot_ideal_acc_0.025: 0.3960, total/rot_ideal_acc_0.05: 0.5880, per_task/close_jar_pos_l2_err: 0.0174, per_task/close_jar_quat_l1_err: 0.1401, per_task/close_jar_quat_l1_ideal_err: 0.1401, per_task/close_jar_pos_acc_0.01: 0.3833, per_task/close_jar_rot_acc_0.025: 0.6333, per_task/close_jar_rot_acc_0.05: 0.7167, per_task/close_jar_rot_ideal_acc_0.025: 0.6333, per_task/close_jar_rot_ideal_acc_0.05: 0.7167, per_task/close_jar_open_acc: 0.9833, per_task/close_jar_open_acc_ideal: 0.9833, per_task/insert_onto_square_peg_pos_l2_err: 0.0133, per_task/insert_onto_square_peg_quat_l1_err: 0.3163, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3163, per_task/insert_onto_square_peg_pos_acc_0.01: 0.3333, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6389, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6389, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0156, per_task/light_bulb_in_quat_l1_err: 0.3670, per_task/light_bulb_in_quat_l1_ideal_err: 0.3670, per_task/light_bulb_in_pos_acc_0.01: 0.3333, per_task/light_bulb_in_rot_acc_0.025: 0.5370, per_task/light_bulb_in_rot_acc_0.05: 0.6296, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5370, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6296, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0155, per_task/meat_off_grill_quat_l1_err: 0.4254, per_task/meat_off_grill_quat_l1_ideal_err: 0.4254, per_task/meat_off_grill_pos_acc_0.01: 0.0952, per_task/meat_off_grill_rot_acc_0.025: 0.3810, per_task/meat_off_grill_rot_acc_0.05: 0.6190, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.3810, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6190, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0155, per_task/open_drawer_quat_l1_err: 0.6352, per_task/open_drawer_quat_l1_ideal_err: 0.6352, per_task/open_drawer_pos_acc_0.01: 0.2333, per_task/open_drawer_rot_acc_0.025: 0.4000, per_task/open_drawer_rot_acc_0.05: 0.7000, per_task/open_drawer_rot_ideal_acc_0.025: 0.4000, per_task/open_drawer_rot_ideal_acc_0.05: 0.7000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0325, per_task/place_cups_quat_l1_err: 0.3086, per_task/place_cups_quat_l1_ideal_err: 0.3086, per_task/place_cups_pos_acc_0.01: 0.1860, per_task/place_cups_rot_acc_0.025: 0.2016, per_task/place_cups_rot_acc_0.05: 0.5271, per_task/place_cups_rot_ideal_acc_0.025: 0.2016, per_task/place_cups_rot_ideal_acc_0.05: 0.5271, per_task/place_cups_open_acc: 0.9845, per_task/place_cups_open_acc_ideal: 0.9767, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0232, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.2843, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.2951, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2500, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6458, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6458, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0256, per_task/place_wine_at_rack_location_quat_l1_err: 0.9309, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9309, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1458, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1667, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3125, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1667, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3125, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0153, per_task/push_buttons_quat_l1_err: 0.0458, per_task/push_buttons_quat_l1_ideal_err: 0.0458, per_task/push_buttons_pos_acc_0.01: 0.1765, per_task/push_buttons_rot_acc_0.025: 0.6765, per_task/push_buttons_rot_acc_0.05: 0.6765, per_task/push_buttons_rot_ideal_acc_0.025: 0.6765, per_task/push_buttons_rot_ideal_acc_0.05: 0.6765, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0405, per_task/put_groceries_in_cupboard_quat_l1_err: 0.3996, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.3996, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0588, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3922, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6275, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3922, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6275, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0155, per_task/put_item_in_drawer_quat_l1_err: 0.3152, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3152, per_task/put_item_in_drawer_pos_acc_0.01: 0.2447, per_task/put_item_in_drawer_rot_acc_0.025: 0.4681, per_task/put_item_in_drawer_rot_acc_0.05: 0.7128, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4681, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7128, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0219, per_task/put_money_in_safe_quat_l1_err: 0.3012, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3012, per_task/put_money_in_safe_pos_acc_0.01: 0.1562, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.3750, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3750, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0127, per_task/reach_and_drag_quat_l1_err: 0.3054, per_task/reach_and_drag_quat_l1_ideal_err: 0.3054, per_task/reach_and_drag_pos_acc_0.01: 0.4390, per_task/reach_and_drag_rot_acc_0.025: 0.2683, per_task/reach_and_drag_rot_acc_0.05: 0.3415, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2683, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3415, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0199, per_task/slide_block_to_color_target_quat_l1_err: 0.4578, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4578, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2400, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4800, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5600, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4800, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5600, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0328, per_task/stack_blocks_quat_l1_err: 0.2890, per_task/stack_blocks_quat_l1_ideal_err: 0.2886, per_task/stack_blocks_pos_acc_0.01: 0.2519, per_task/stack_blocks_rot_acc_0.025: 0.4122, per_task/stack_blocks_rot_acc_0.05: 0.6107, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4122, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6107, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0147, per_task/stack_cups_quat_l1_err: 0.0422, per_task/stack_cups_quat_l1_ideal_err: 0.0422, per_task/stack_cups_pos_acc_0.01: 0.3704, per_task/stack_cups_rot_acc_0.025: 0.4321, per_task/stack_cups_rot_acc_0.05: 0.7037, per_task/stack_cups_rot_ideal_acc_0.025: 0.4321, per_task/stack_cups_rot_ideal_acc_0.05: 0.7037, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0539, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3480, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3480, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.1500, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0182, per_task/turn_tap_quat_l1_err: 1.8591, per_task/turn_tap_quat_l1_ideal_err: 1.8591, per_task/turn_tap_pos_acc_0.01: 0.1250, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 21:54:44 - INFO - __main__ - =============================================== +04/28/2025 22:01:40 - INFO - __main__ - ==============Epoch 130 Step 15500=============== +04/28/2025 22:01:40 - INFO - __main__ - loss_pos:0.1290, loss_rot:0.4039, loss_open:0.0132, loss_total:2.9964 +04/28/2025 22:01:40 - INFO - __main__ - =============================================== +04/28/2025 22:08:31 - INFO - __main__ - ==============Epoch 134 Step 16000=============== +04/28/2025 22:08:31 - INFO - __main__ - loss_pos:0.1290, loss_rot:0.3941, loss_open:0.0104, loss_total:2.9853 +04/28/2025 22:08:31 - INFO - __main__ - =============================================== +04/28/2025 22:09:02 - INFO - __main__ - =================Validation================= +04/28/2025 22:09:02 - INFO - __main__ - total/pos_l2_err: 0.0214, total/quat_l1_err: 0.4073, total/quat_l1_ideal_err: 0.4083, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.2830, total/rot_acc_0.025: 0.3780, total/rot_acc_0.05: 0.5750, total/rot_ideal_acc_0.025: 0.3780, total/rot_ideal_acc_0.05: 0.5750, per_task/close_jar_pos_l2_err: 0.0157, per_task/close_jar_quat_l1_err: 0.0977, per_task/close_jar_quat_l1_ideal_err: 0.0977, per_task/close_jar_pos_acc_0.01: 0.1739, per_task/close_jar_rot_acc_0.025: 0.6304, per_task/close_jar_rot_acc_0.05: 0.8261, per_task/close_jar_rot_ideal_acc_0.025: 0.6304, per_task/close_jar_rot_ideal_acc_0.05: 0.8261, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0130, per_task/insert_onto_square_peg_quat_l1_err: 0.4778, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4778, per_task/insert_onto_square_peg_pos_acc_0.01: 0.4048, per_task/insert_onto_square_peg_rot_acc_0.025: 0.2619, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4524, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.2619, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4524, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0130, per_task/light_bulb_in_quat_l1_err: 0.5123, per_task/light_bulb_in_quat_l1_ideal_err: 0.5123, per_task/light_bulb_in_pos_acc_0.01: 0.4800, per_task/light_bulb_in_rot_acc_0.025: 0.4800, per_task/light_bulb_in_rot_acc_0.05: 0.5800, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4800, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5800, per_task/light_bulb_in_open_acc: 0.9800, per_task/light_bulb_in_open_acc_ideal: 0.9800, per_task/meat_off_grill_pos_l2_err: 0.0124, per_task/meat_off_grill_quat_l1_err: 0.4776, per_task/meat_off_grill_quat_l1_ideal_err: 0.4776, per_task/meat_off_grill_pos_acc_0.01: 0.3415, per_task/meat_off_grill_rot_acc_0.025: 0.4390, per_task/meat_off_grill_rot_acc_0.05: 0.7073, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.4390, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7073, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0162, per_task/open_drawer_quat_l1_err: 0.6585, per_task/open_drawer_quat_l1_ideal_err: 0.6585, per_task/open_drawer_pos_acc_0.01: 0.2778, per_task/open_drawer_rot_acc_0.025: 0.4444, per_task/open_drawer_rot_acc_0.05: 0.6667, per_task/open_drawer_rot_ideal_acc_0.025: 0.4444, per_task/open_drawer_rot_ideal_acc_0.05: 0.6667, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0326, per_task/place_cups_quat_l1_err: 0.3462, per_task/place_cups_quat_l1_ideal_err: 0.3439, per_task/place_cups_pos_acc_0.01: 0.1797, per_task/place_cups_rot_acc_0.025: 0.2422, per_task/place_cups_rot_acc_0.05: 0.6094, per_task/place_cups_rot_ideal_acc_0.025: 0.2422, per_task/place_cups_rot_ideal_acc_0.05: 0.6094, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0197, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3279, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3279, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2500, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3500, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3500, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6000, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0283, per_task/place_wine_at_rack_location_quat_l1_err: 0.8328, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8328, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1957, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1522, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2391, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1522, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2391, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0159, per_task/push_buttons_quat_l1_err: 0.0407, per_task/push_buttons_quat_l1_ideal_err: 0.0407, per_task/push_buttons_pos_acc_0.01: 0.1429, per_task/push_buttons_rot_acc_0.025: 0.5952, per_task/push_buttons_rot_acc_0.05: 0.7857, per_task/push_buttons_rot_ideal_acc_0.025: 0.5952, per_task/push_buttons_rot_ideal_acc_0.05: 0.7857, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0282, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5453, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5453, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0244, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2683, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4634, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2683, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4634, per_task/put_groceries_in_cupboard_open_acc: 0.9756, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9756, per_task/put_item_in_drawer_pos_l2_err: 0.0118, per_task/put_item_in_drawer_quat_l1_err: 0.3121, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3121, per_task/put_item_in_drawer_pos_acc_0.01: 0.4845, per_task/put_item_in_drawer_rot_acc_0.025: 0.5052, per_task/put_item_in_drawer_rot_acc_0.05: 0.7216, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5052, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7216, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0152, per_task/put_money_in_safe_quat_l1_err: 0.2621, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2621, per_task/put_money_in_safe_pos_acc_0.01: 0.1778, per_task/put_money_in_safe_rot_acc_0.025: 0.0222, per_task/put_money_in_safe_rot_acc_0.05: 0.4222, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0222, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4222, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0113, per_task/reach_and_drag_quat_l1_err: 0.3077, per_task/reach_and_drag_quat_l1_ideal_err: 0.3077, per_task/reach_and_drag_pos_acc_0.01: 0.4737, per_task/reach_and_drag_rot_acc_0.025: 0.3158, per_task/reach_and_drag_rot_acc_0.05: 0.4211, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3158, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4211, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0180, per_task/slide_block_to_color_target_quat_l1_err: 0.6483, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6858, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2222, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3611, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4722, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3611, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4722, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0388, per_task/stack_blocks_quat_l1_err: 0.3973, per_task/stack_blocks_quat_l1_ideal_err: 0.3965, per_task/stack_blocks_pos_acc_0.01: 0.2462, per_task/stack_blocks_rot_acc_0.025: 0.4769, per_task/stack_blocks_rot_acc_0.05: 0.5846, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4769, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5846, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0144, per_task/stack_cups_quat_l1_err: 0.1450, per_task/stack_cups_quat_l1_ideal_err: 0.1450, per_task/stack_cups_pos_acc_0.01: 0.3467, per_task/stack_cups_rot_acc_0.025: 0.4267, per_task/stack_cups_rot_acc_0.05: 0.6933, per_task/stack_cups_rot_ideal_acc_0.025: 0.4267, per_task/stack_cups_rot_ideal_acc_0.05: 0.6933, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0233, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3848, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3848, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.2727, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5682, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5682, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5682, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5682, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0152, per_task/turn_tap_quat_l1_err: 1.9772, per_task/turn_tap_quat_l1_ideal_err: 1.9772, per_task/turn_tap_pos_acc_0.01: 0.2727, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 22:09:02 - INFO - __main__ - =============================================== +04/28/2025 22:15:58 - INFO - __main__ - ==============Epoch 138 Step 16500=============== +04/28/2025 22:15:58 - INFO - __main__ - loss_pos:0.1278, loss_rot:0.4046, loss_open:0.0126, loss_total:2.9740 +04/28/2025 22:15:58 - INFO - __main__ - =============================================== +04/28/2025 22:22:53 - INFO - __main__ - ==============Epoch 142 Step 17000=============== +04/28/2025 22:22:54 - INFO - __main__ - loss_pos:0.1277, loss_rot:0.4049, loss_open:0.0172, loss_total:2.9758 +04/28/2025 22:22:54 - INFO - __main__ - =============================================== +04/28/2025 22:23:24 - INFO - __main__ - =================Validation================= +04/28/2025 22:23:24 - INFO - __main__ - total/pos_l2_err: 0.0198, total/quat_l1_err: 0.4081, total/quat_l1_ideal_err: 0.4081, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.3330, total/rot_acc_0.025: 0.3880, total/rot_acc_0.05: 0.5620, total/rot_ideal_acc_0.025: 0.3890, total/rot_ideal_acc_0.05: 0.5630, per_task/close_jar_pos_l2_err: 0.0182, per_task/close_jar_quat_l1_err: 0.2508, per_task/close_jar_quat_l1_ideal_err: 0.2508, per_task/close_jar_pos_acc_0.01: 0.2857, per_task/close_jar_rot_acc_0.025: 0.4898, per_task/close_jar_rot_acc_0.05: 0.6327, per_task/close_jar_rot_ideal_acc_0.025: 0.4898, per_task/close_jar_rot_ideal_acc_0.05: 0.6327, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0148, per_task/insert_onto_square_peg_quat_l1_err: 0.3262, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3262, per_task/insert_onto_square_peg_pos_acc_0.01: 0.2667, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5667, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7333, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5667, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7333, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0137, per_task/light_bulb_in_quat_l1_err: 0.4944, per_task/light_bulb_in_quat_l1_ideal_err: 0.4944, per_task/light_bulb_in_pos_acc_0.01: 0.3400, per_task/light_bulb_in_rot_acc_0.025: 0.5200, per_task/light_bulb_in_rot_acc_0.05: 0.5800, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5200, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5800, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0110, per_task/meat_off_grill_quat_l1_err: 0.1943, per_task/meat_off_grill_quat_l1_ideal_err: 0.1943, per_task/meat_off_grill_pos_acc_0.01: 0.4783, per_task/meat_off_grill_rot_acc_0.025: 0.7174, per_task/meat_off_grill_rot_acc_0.05: 0.8478, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7174, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8478, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0213, per_task/place_cups_quat_l1_err: 0.3937, per_task/place_cups_quat_l1_ideal_err: 0.3937, per_task/place_cups_pos_acc_0.01: 0.3178, per_task/place_cups_rot_acc_0.025: 0.1473, per_task/place_cups_rot_acc_0.05: 0.5659, per_task/place_cups_rot_ideal_acc_0.025: 0.1473, per_task/place_cups_rot_ideal_acc_0.05: 0.5659, per_task/place_cups_open_acc: 0.9922, per_task/place_cups_open_acc_ideal: 0.9922, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0189, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4970, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4970, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2222, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2963, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3704, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2963, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3704, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0141, per_task/place_wine_at_rack_location_quat_l1_err: 0.9604, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9604, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3878, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1224, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2041, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1224, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2041, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0133, per_task/push_buttons_quat_l1_err: 0.0433, per_task/push_buttons_quat_l1_ideal_err: 0.0433, per_task/push_buttons_pos_acc_0.01: 0.3953, per_task/push_buttons_rot_acc_0.025: 0.6744, per_task/push_buttons_rot_acc_0.05: 0.6744, per_task/push_buttons_rot_ideal_acc_0.025: 0.6744, per_task/push_buttons_rot_ideal_acc_0.05: 0.6744, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0374, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6738, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6738, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0465, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2093, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.3953, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2093, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3953, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0106, per_task/put_item_in_drawer_quat_l1_err: 0.4284, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4284, per_task/put_item_in_drawer_pos_acc_0.01: 0.5053, per_task/put_item_in_drawer_rot_acc_0.025: 0.3895, per_task/put_item_in_drawer_rot_acc_0.05: 0.6737, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.3895, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6737, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0172, per_task/put_money_in_safe_quat_l1_err: 0.2386, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2386, per_task/put_money_in_safe_pos_acc_0.01: 0.3000, per_task/put_money_in_safe_rot_acc_0.025: 0.0200, per_task/put_money_in_safe_rot_acc_0.05: 0.4600, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0200, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4600, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0129, per_task/reach_and_drag_quat_l1_err: 0.3132, per_task/reach_and_drag_quat_l1_ideal_err: 0.3132, per_task/reach_and_drag_pos_acc_0.01: 0.4222, per_task/reach_and_drag_rot_acc_0.025: 0.2889, per_task/reach_and_drag_rot_acc_0.05: 0.4000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2889, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0175, per_task/slide_block_to_color_target_quat_l1_err: 0.4650, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4650, per_task/slide_block_to_color_target_pos_acc_0.01: 0.1282, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4103, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5385, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4103, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5385, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0294, per_task/stack_blocks_quat_l1_err: 0.3515, per_task/stack_blocks_quat_l1_ideal_err: 0.3524, per_task/stack_blocks_pos_acc_0.01: 0.3517, per_task/stack_blocks_rot_acc_0.025: 0.5517, per_task/stack_blocks_rot_acc_0.05: 0.6552, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5517, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6552, per_task/stack_blocks_open_acc: 0.9931, per_task/stack_blocks_open_acc_ideal: 0.9931, per_task/stack_cups_pos_l2_err: 0.0200, per_task/stack_cups_quat_l1_err: 0.0786, per_task/stack_cups_quat_l1_ideal_err: 0.0786, per_task/stack_cups_pos_acc_0.01: 0.2564, per_task/stack_cups_rot_acc_0.025: 0.4615, per_task/stack_cups_rot_acc_0.05: 0.5769, per_task/stack_cups_rot_ideal_acc_0.025: 0.4615, per_task/stack_cups_rot_ideal_acc_0.05: 0.5769, per_task/stack_cups_open_acc: 0.9872, per_task/stack_cups_open_acc_ideal: 0.9872, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0393, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4058, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4041, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3846, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.4872, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.4872, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5128, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5128, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0121, per_task/turn_tap_quat_l1_err: 1.9042, per_task/turn_tap_quat_l1_ideal_err: 1.9042, per_task/turn_tap_pos_acc_0.01: 0.3684, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0187, per_task/open_drawer_quat_l1_err: 0.6784, per_task/open_drawer_quat_l1_ideal_err: 0.6784, per_task/open_drawer_pos_acc_0.01: 0.2917, per_task/open_drawer_rot_acc_0.025: 0.6250, per_task/open_drawer_rot_acc_0.05: 0.7083, per_task/open_drawer_rot_ideal_acc_0.025: 0.6250, per_task/open_drawer_rot_ideal_acc_0.05: 0.7083, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000 +04/28/2025 22:23:24 - INFO - __main__ - =============================================== +04/28/2025 22:30:15 - INFO - __main__ - ==============Epoch 147 Step 17500=============== +04/28/2025 22:30:15 - INFO - __main__ - loss_pos:0.1263, loss_rot:0.3805, loss_open:0.0122, loss_total:2.9183 +04/28/2025 22:30:15 - INFO - __main__ - =============================================== +04/28/2025 22:37:10 - INFO - __main__ - ==============Epoch 151 Step 18000=============== +04/28/2025 22:37:10 - INFO - __main__ - loss_pos:0.1261, loss_rot:0.3784, loss_open:0.0116, loss_total:2.9119 +04/28/2025 22:37:10 - INFO - __main__ - =============================================== +04/28/2025 22:37:41 - INFO - __main__ - =================Validation================= +04/28/2025 22:37:41 - INFO - __main__ - total/pos_l2_err: 0.0213, total/quat_l1_err: 0.3755, total/quat_l1_ideal_err: 0.3755, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.2080, total/rot_acc_0.025: 0.4010, total/rot_acc_0.05: 0.5830, total/rot_ideal_acc_0.025: 0.4010, total/rot_ideal_acc_0.05: 0.5830, per_task/close_jar_pos_l2_err: 0.0194, per_task/close_jar_quat_l1_err: 0.1785, per_task/close_jar_quat_l1_ideal_err: 0.1785, per_task/close_jar_pos_acc_0.01: 0.1346, per_task/close_jar_rot_acc_0.025: 0.5192, per_task/close_jar_rot_acc_0.05: 0.7308, per_task/close_jar_rot_ideal_acc_0.025: 0.5192, per_task/close_jar_rot_ideal_acc_0.05: 0.7308, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0159, per_task/insert_onto_square_peg_quat_l1_err: 0.4462, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4462, per_task/insert_onto_square_peg_pos_acc_0.01: 0.2632, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3421, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4737, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3421, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4737, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0168, per_task/light_bulb_in_quat_l1_err: 0.4105, per_task/light_bulb_in_quat_l1_ideal_err: 0.4105, per_task/light_bulb_in_pos_acc_0.01: 0.2203, per_task/light_bulb_in_rot_acc_0.025: 0.4915, per_task/light_bulb_in_rot_acc_0.05: 0.5593, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4915, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5593, per_task/light_bulb_in_open_acc: 0.9831, per_task/light_bulb_in_open_acc_ideal: 0.9831, per_task/meat_off_grill_pos_l2_err: 0.0144, per_task/meat_off_grill_quat_l1_err: 0.2620, per_task/meat_off_grill_quat_l1_ideal_err: 0.2620, per_task/meat_off_grill_pos_acc_0.01: 0.3077, per_task/meat_off_grill_rot_acc_0.025: 0.6410, per_task/meat_off_grill_rot_acc_0.05: 0.7949, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6410, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7949, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0160, per_task/open_drawer_quat_l1_err: 1.0017, per_task/open_drawer_quat_l1_ideal_err: 1.0017, per_task/open_drawer_pos_acc_0.01: 0.1786, per_task/open_drawer_rot_acc_0.025: 0.2857, per_task/open_drawer_rot_acc_0.05: 0.5000, per_task/open_drawer_rot_ideal_acc_0.025: 0.2857, per_task/open_drawer_rot_ideal_acc_0.05: 0.5000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0281, per_task/place_cups_quat_l1_err: 0.3803, per_task/place_cups_quat_l1_ideal_err: 0.3803, per_task/place_cups_pos_acc_0.01: 0.1654, per_task/place_cups_rot_acc_0.025: 0.1811, per_task/place_cups_rot_acc_0.05: 0.5984, per_task/place_cups_rot_ideal_acc_0.025: 0.1811, per_task/place_cups_rot_ideal_acc_0.05: 0.5984, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0209, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3922, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3922, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1429, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4000, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5143, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5143, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0155, per_task/place_wine_at_rack_location_quat_l1_err: 0.9401, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9401, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1591, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1818, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2727, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1818, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2727, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0155, per_task/push_buttons_quat_l1_err: 0.0359, per_task/push_buttons_quat_l1_ideal_err: 0.0359, per_task/push_buttons_pos_acc_0.01: 0.1724, per_task/push_buttons_rot_acc_0.025: 0.7241, per_task/push_buttons_rot_acc_0.05: 0.7241, per_task/push_buttons_rot_ideal_acc_0.025: 0.7241, per_task/push_buttons_rot_ideal_acc_0.05: 0.7241, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0394, per_task/put_groceries_in_cupboard_quat_l1_err: 0.3376, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.3376, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1081, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4054, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6757, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4054, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6757, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0133, per_task/put_item_in_drawer_quat_l1_err: 0.3541, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3541, per_task/put_item_in_drawer_pos_acc_0.01: 0.2812, per_task/put_item_in_drawer_rot_acc_0.025: 0.5312, per_task/put_item_in_drawer_rot_acc_0.05: 0.7188, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5312, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7188, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0208, per_task/put_money_in_safe_quat_l1_err: 0.3156, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3156, per_task/put_money_in_safe_pos_acc_0.01: 0.0556, per_task/put_money_in_safe_rot_acc_0.025: 0.0185, per_task/put_money_in_safe_rot_acc_0.05: 0.4444, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0185, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4444, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0122, per_task/reach_and_drag_quat_l1_err: 0.2994, per_task/reach_and_drag_quat_l1_ideal_err: 0.2994, per_task/reach_and_drag_pos_acc_0.01: 0.4634, per_task/reach_and_drag_rot_acc_0.025: 0.2683, per_task/reach_and_drag_rot_acc_0.05: 0.4146, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2683, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4146, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0209, per_task/slide_block_to_color_target_quat_l1_err: 0.3938, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3938, per_task/slide_block_to_color_target_pos_acc_0.01: 0.1429, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3929, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3929, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0287, per_task/stack_blocks_quat_l1_err: 0.2893, per_task/stack_blocks_quat_l1_ideal_err: 0.2893, per_task/stack_blocks_pos_acc_0.01: 0.2168, per_task/stack_blocks_rot_acc_0.025: 0.5105, per_task/stack_blocks_rot_acc_0.05: 0.6294, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5105, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6294, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0179, per_task/stack_cups_quat_l1_err: 0.0537, per_task/stack_cups_quat_l1_ideal_err: 0.0537, per_task/stack_cups_pos_acc_0.01: 0.2614, per_task/stack_cups_rot_acc_0.025: 0.4318, per_task/stack_cups_rot_acc_0.05: 0.5682, per_task/stack_cups_rot_ideal_acc_0.025: 0.4318, per_task/stack_cups_rot_ideal_acc_0.05: 0.5682, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0333, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2352, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2352, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.1667, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7857, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7857, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7857, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7857, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0139, per_task/turn_tap_quat_l1_err: 1.9776, per_task/turn_tap_quat_l1_ideal_err: 1.9776, per_task/turn_tap_pos_acc_0.01: 0.2500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9500, per_task/turn_tap_open_acc_ideal: 0.9500 +04/28/2025 22:37:41 - INFO - __main__ - =============================================== +04/28/2025 22:44:36 - INFO - __main__ - ==============Epoch 155 Step 18500=============== +04/28/2025 22:44:36 - INFO - __main__ - loss_pos:0.1250, loss_rot:0.3707, loss_open:0.0166, loss_total:2.8880 +04/28/2025 22:44:36 - INFO - __main__ - =============================================== +04/28/2025 22:51:30 - INFO - __main__ - ==============Epoch 159 Step 19000=============== +04/28/2025 22:51:30 - INFO - __main__ - loss_pos:0.1251, loss_rot:0.3780, loss_open:0.0167, loss_total:2.8968 +04/28/2025 22:51:30 - INFO - __main__ - =============================================== +04/28/2025 22:52:02 - INFO - __main__ - =================Validation================= +04/28/2025 22:52:02 - INFO - __main__ - total/pos_l2_err: 0.0190, total/quat_l1_err: 0.3971, total/quat_l1_ideal_err: 0.3981, total/open_acc: 0.9960, total/open_acc_ideal: 0.9960, total/pos_acc_0.01: 0.3400, total/rot_acc_0.025: 0.3830, total/rot_acc_0.05: 0.5600, total/rot_ideal_acc_0.025: 0.3830, total/rot_ideal_acc_0.05: 0.5600, per_task/close_jar_pos_l2_err: 0.0151, per_task/close_jar_quat_l1_err: 0.2250, per_task/close_jar_quat_l1_ideal_err: 0.2250, per_task/close_jar_pos_acc_0.01: 0.2500, per_task/close_jar_rot_acc_0.025: 0.5750, per_task/close_jar_rot_acc_0.05: 0.6750, per_task/close_jar_rot_ideal_acc_0.025: 0.5750, per_task/close_jar_rot_ideal_acc_0.05: 0.6750, per_task/close_jar_open_acc: 0.9750, per_task/close_jar_open_acc_ideal: 0.9750, per_task/insert_onto_square_peg_pos_l2_err: 0.0132, per_task/insert_onto_square_peg_quat_l1_err: 0.3897, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3897, per_task/insert_onto_square_peg_pos_acc_0.01: 0.3333, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5385, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6410, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5385, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6410, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0119, per_task/light_bulb_in_quat_l1_err: 0.4620, per_task/light_bulb_in_quat_l1_ideal_err: 0.4620, per_task/light_bulb_in_pos_acc_0.01: 0.4308, per_task/light_bulb_in_rot_acc_0.025: 0.4462, per_task/light_bulb_in_rot_acc_0.05: 0.5077, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4462, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5077, per_task/light_bulb_in_open_acc: 0.9692, per_task/light_bulb_in_open_acc_ideal: 0.9692, per_task/meat_off_grill_pos_l2_err: 0.0113, per_task/meat_off_grill_quat_l1_err: 0.1396, per_task/meat_off_grill_quat_l1_ideal_err: 0.1396, per_task/meat_off_grill_pos_acc_0.01: 0.4524, per_task/meat_off_grill_rot_acc_0.025: 0.6429, per_task/meat_off_grill_rot_acc_0.05: 0.8571, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6429, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8571, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0148, per_task/open_drawer_quat_l1_err: 0.7320, per_task/open_drawer_quat_l1_ideal_err: 0.7320, per_task/open_drawer_pos_acc_0.01: 0.2308, per_task/open_drawer_rot_acc_0.025: 0.3846, per_task/open_drawer_rot_acc_0.05: 0.5385, per_task/open_drawer_rot_ideal_acc_0.025: 0.3846, per_task/open_drawer_rot_ideal_acc_0.05: 0.5385, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0255, per_task/place_cups_quat_l1_err: 0.4077, per_task/place_cups_quat_l1_ideal_err: 0.4077, per_task/place_cups_pos_acc_0.01: 0.2500, per_task/place_cups_rot_acc_0.025: 0.1250, per_task/place_cups_rot_acc_0.05: 0.5391, per_task/place_cups_rot_ideal_acc_0.025: 0.1250, per_task/place_cups_rot_ideal_acc_0.05: 0.5391, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0136, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3026, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3026, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.4375, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4062, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5625, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4062, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5625, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0121, per_task/place_wine_at_rack_location_quat_l1_err: 0.7800, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7800, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3542, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1458, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2292, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1458, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2292, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0112, per_task/push_buttons_quat_l1_err: 0.0372, per_task/push_buttons_quat_l1_ideal_err: 0.0372, per_task/push_buttons_pos_acc_0.01: 0.5143, per_task/push_buttons_rot_acc_0.025: 0.7143, per_task/push_buttons_rot_acc_0.05: 0.7143, per_task/push_buttons_rot_ideal_acc_0.025: 0.7143, per_task/push_buttons_rot_ideal_acc_0.05: 0.7143, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0422, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7068, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7068, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0213, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2766, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.3830, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2766, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3830, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0140, per_task/put_item_in_drawer_quat_l1_err: 0.3086, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3086, per_task/put_item_in_drawer_pos_acc_0.01: 0.2933, per_task/put_item_in_drawer_rot_acc_0.025: 0.4933, per_task/put_item_in_drawer_rot_acc_0.05: 0.7467, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4933, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7467, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0172, per_task/put_money_in_safe_quat_l1_err: 0.1973, per_task/put_money_in_safe_quat_l1_ideal_err: 0.1973, per_task/put_money_in_safe_pos_acc_0.01: 0.2955, per_task/put_money_in_safe_rot_acc_0.025: 0.0455, per_task/put_money_in_safe_rot_acc_0.05: 0.5455, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0455, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5455, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0138, per_task/reach_and_drag_quat_l1_err: 0.3488, per_task/reach_and_drag_quat_l1_ideal_err: 0.3488, per_task/reach_and_drag_pos_acc_0.01: 0.3878, per_task/reach_and_drag_rot_acc_0.025: 0.2449, per_task/reach_and_drag_rot_acc_0.05: 0.3878, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2449, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3878, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0182, per_task/slide_block_to_color_target_quat_l1_err: 0.4594, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4594, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2188, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3125, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4062, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3125, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4062, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0237, per_task/stack_blocks_quat_l1_err: 0.3382, per_task/stack_blocks_quat_l1_ideal_err: 0.3453, per_task/stack_blocks_pos_acc_0.01: 0.4043, per_task/stack_blocks_rot_acc_0.025: 0.4965, per_task/stack_blocks_rot_acc_0.05: 0.6241, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4965, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6241, per_task/stack_blocks_open_acc: 0.9929, per_task/stack_blocks_open_acc_ideal: 0.9929, per_task/stack_cups_pos_l2_err: 0.0194, per_task/stack_cups_quat_l1_err: 0.2545, per_task/stack_cups_quat_l1_ideal_err: 0.2545, per_task/stack_cups_pos_acc_0.01: 0.3846, per_task/stack_cups_rot_acc_0.025: 0.3736, per_task/stack_cups_rot_acc_0.05: 0.5495, per_task/stack_cups_rot_ideal_acc_0.025: 0.3736, per_task/stack_cups_rot_ideal_acc_0.05: 0.5495, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0254, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2987, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2987, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4468, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7234, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7234, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7234, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7234, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0141, per_task/turn_tap_quat_l1_err: 1.8778, per_task/turn_tap_quat_l1_ideal_err: 1.8778, per_task/turn_tap_pos_acc_0.01: 0.4211, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 22:52:02 - INFO - __main__ - =============================================== +04/28/2025 22:58:53 - INFO - __main__ - ==============Epoch 163 Step 19500=============== +04/28/2025 22:58:53 - INFO - __main__ - loss_pos:0.1245, loss_rot:0.3657, loss_open:0.0116, loss_total:2.8677 +04/28/2025 22:58:53 - INFO - __main__ - =============================================== +04/28/2025 23:05:46 - INFO - __main__ - ==============Epoch 168 Step 20000=============== +04/28/2025 23:05:46 - INFO - __main__ - loss_pos:0.1237, loss_rot:0.3595, loss_open:0.0095, loss_total:2.8438 +04/28/2025 23:05:46 - INFO - __main__ - =============================================== +04/28/2025 23:06:17 - INFO - __main__ - =================Validation================= +04/28/2025 23:06:17 - INFO - __main__ - total/pos_l2_err: 0.0185, total/quat_l1_err: 0.4066, total/quat_l1_ideal_err: 0.4066, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.3500, total/rot_acc_0.025: 0.3970, total/rot_acc_0.05: 0.5820, total/rot_ideal_acc_0.025: 0.3970, total/rot_ideal_acc_0.05: 0.5820, per_task/close_jar_pos_l2_err: 0.0118, per_task/close_jar_quat_l1_err: 0.2014, per_task/close_jar_quat_l1_ideal_err: 0.2014, per_task/close_jar_pos_acc_0.01: 0.4091, per_task/close_jar_rot_acc_0.025: 0.5000, per_task/close_jar_rot_acc_0.05: 0.6591, per_task/close_jar_rot_ideal_acc_0.025: 0.5000, per_task/close_jar_rot_ideal_acc_0.05: 0.6591, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0111, per_task/insert_onto_square_peg_quat_l1_err: 0.4064, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4064, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6786, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6786, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0132, per_task/light_bulb_in_quat_l1_err: 0.4361, per_task/light_bulb_in_quat_l1_ideal_err: 0.4361, per_task/light_bulb_in_pos_acc_0.01: 0.4242, per_task/light_bulb_in_rot_acc_0.025: 0.4242, per_task/light_bulb_in_rot_acc_0.05: 0.5152, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4242, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5152, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0116, per_task/meat_off_grill_quat_l1_err: 0.3066, per_task/meat_off_grill_quat_l1_ideal_err: 0.3066, per_task/meat_off_grill_pos_acc_0.01: 0.4103, per_task/meat_off_grill_rot_acc_0.025: 0.5385, per_task/meat_off_grill_rot_acc_0.05: 0.7436, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5385, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7436, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0232, per_task/place_cups_quat_l1_err: 0.4101, per_task/place_cups_quat_l1_ideal_err: 0.4101, per_task/place_cups_pos_acc_0.01: 0.2893, per_task/place_cups_rot_acc_0.025: 0.1570, per_task/place_cups_rot_acc_0.05: 0.5620, per_task/place_cups_rot_ideal_acc_0.025: 0.1570, per_task/place_cups_rot_ideal_acc_0.05: 0.5620, per_task/place_cups_open_acc: 0.9835, per_task/place_cups_open_acc_ideal: 0.9835, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0181, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5198, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5185, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2708, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3958, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4167, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3958, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4167, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0148, per_task/place_wine_at_rack_location_quat_l1_err: 0.6391, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6391, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.4500, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3000, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3500, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0126, per_task/push_buttons_quat_l1_err: 0.0337, per_task/push_buttons_quat_l1_ideal_err: 0.0337, per_task/push_buttons_pos_acc_0.01: 0.4516, per_task/push_buttons_rot_acc_0.025: 0.7419, per_task/push_buttons_rot_acc_0.05: 0.7419, per_task/push_buttons_rot_ideal_acc_0.025: 0.7419, per_task/push_buttons_rot_ideal_acc_0.05: 0.7419, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0347, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7428, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7428, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0278, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.1111, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.3611, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.1111, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3611, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0123, per_task/put_item_in_drawer_quat_l1_err: 0.4810, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4810, per_task/put_item_in_drawer_pos_acc_0.01: 0.3956, per_task/put_item_in_drawer_rot_acc_0.025: 0.4835, per_task/put_item_in_drawer_rot_acc_0.05: 0.6154, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4835, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6154, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0096, per_task/reach_and_drag_quat_l1_err: 0.2999, per_task/reach_and_drag_quat_l1_ideal_err: 0.2999, per_task/reach_and_drag_pos_acc_0.01: 0.6500, per_task/reach_and_drag_rot_acc_0.025: 0.3167, per_task/reach_and_drag_rot_acc_0.05: 0.5333, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3167, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5333, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0149, per_task/slide_block_to_color_target_quat_l1_err: 0.6071, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6071, per_task/slide_block_to_color_target_pos_acc_0.01: 0.1818, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2500, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4773, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2500, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4773, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0194, per_task/stack_blocks_quat_l1_err: 0.2801, per_task/stack_blocks_quat_l1_ideal_err: 0.2801, per_task/stack_blocks_pos_acc_0.01: 0.3285, per_task/stack_blocks_rot_acc_0.025: 0.4891, per_task/stack_blocks_rot_acc_0.05: 0.6423, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4891, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6423, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0170, per_task/stack_cups_quat_l1_err: 0.1073, per_task/stack_cups_quat_l1_ideal_err: 0.1073, per_task/stack_cups_pos_acc_0.01: 0.3333, per_task/stack_cups_rot_acc_0.025: 0.5152, per_task/stack_cups_rot_acc_0.05: 0.7121, per_task/stack_cups_rot_ideal_acc_0.025: 0.5152, per_task/stack_cups_rot_ideal_acc_0.05: 0.7121, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0682, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1805, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1805, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.2750, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0134, per_task/turn_tap_quat_l1_err: 1.8301, per_task/turn_tap_quat_l1_ideal_err: 1.8301, per_task/turn_tap_pos_acc_0.01: 0.2941, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9412, per_task/turn_tap_open_acc_ideal: 0.9412, per_task/open_drawer_pos_l2_err: 0.0163, per_task/open_drawer_quat_l1_err: 0.8049, per_task/open_drawer_quat_l1_ideal_err: 0.8049, per_task/open_drawer_pos_acc_0.01: 0.2759, per_task/open_drawer_rot_acc_0.025: 0.4483, per_task/open_drawer_rot_acc_0.05: 0.6552, per_task/open_drawer_rot_ideal_acc_0.025: 0.4483, per_task/open_drawer_rot_ideal_acc_0.05: 0.6552, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0167, per_task/put_money_in_safe_quat_l1_err: 0.3072, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3072, per_task/put_money_in_safe_pos_acc_0.01: 0.1429, per_task/put_money_in_safe_rot_acc_0.025: 0.0286, per_task/put_money_in_safe_rot_acc_0.05: 0.5429, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0286, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5429, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000 +04/28/2025 23:06:17 - INFO - __main__ - =============================================== +04/28/2025 23:13:11 - INFO - __main__ - ==============Epoch 172 Step 20500=============== +04/28/2025 23:13:11 - INFO - __main__ - loss_pos:0.1239, loss_rot:0.3551, loss_open:0.0116, loss_total:2.8441 +04/28/2025 23:13:11 - INFO - __main__ - =============================================== +04/28/2025 23:20:07 - INFO - __main__ - ==============Epoch 176 Step 21000=============== +04/28/2025 23:20:07 - INFO - __main__ - loss_pos:0.1228, loss_rot:0.3483, loss_open:0.0119, loss_total:2.8157 +04/28/2025 23:20:07 - INFO - __main__ - =============================================== +04/28/2025 23:20:37 - INFO - __main__ - =================Validation================= +04/28/2025 23:20:38 - INFO - __main__ - total/pos_l2_err: 0.0181, total/quat_l1_err: 0.4033, total/quat_l1_ideal_err: 0.4029, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.3560, total/rot_acc_0.025: 0.4270, total/rot_acc_0.05: 0.5910, total/rot_ideal_acc_0.025: 0.4270, total/rot_ideal_acc_0.05: 0.5910, per_task/close_jar_pos_l2_err: 0.0130, per_task/close_jar_quat_l1_err: 0.1248, per_task/close_jar_quat_l1_ideal_err: 0.1248, per_task/close_jar_pos_acc_0.01: 0.3429, per_task/close_jar_rot_acc_0.025: 0.4857, per_task/close_jar_rot_acc_0.05: 0.7143, per_task/close_jar_rot_ideal_acc_0.025: 0.4857, per_task/close_jar_rot_ideal_acc_0.05: 0.7143, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0112, per_task/insert_onto_square_peg_quat_l1_err: 0.3542, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3542, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5217, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4348, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6087, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4348, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6087, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0134, per_task/light_bulb_in_quat_l1_err: 0.5016, per_task/light_bulb_in_quat_l1_ideal_err: 0.5016, per_task/light_bulb_in_pos_acc_0.01: 0.5000, per_task/light_bulb_in_rot_acc_0.025: 0.5370, per_task/light_bulb_in_rot_acc_0.05: 0.5926, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5370, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5926, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0116, per_task/meat_off_grill_quat_l1_err: 0.2490, per_task/meat_off_grill_quat_l1_ideal_err: 0.2490, per_task/meat_off_grill_pos_acc_0.01: 0.4400, per_task/meat_off_grill_rot_acc_0.025: 0.6000, per_task/meat_off_grill_rot_acc_0.05: 0.7400, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6000, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7400, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0121, per_task/open_drawer_quat_l1_err: 0.7282, per_task/open_drawer_quat_l1_ideal_err: 0.7282, per_task/open_drawer_pos_acc_0.01: 0.3077, per_task/open_drawer_rot_acc_0.025: 0.5385, per_task/open_drawer_rot_acc_0.05: 0.6923, per_task/open_drawer_rot_ideal_acc_0.025: 0.5385, per_task/open_drawer_rot_ideal_acc_0.05: 0.6923, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0283, per_task/place_cups_quat_l1_err: 0.4055, per_task/place_cups_quat_l1_ideal_err: 0.4055, per_task/place_cups_pos_acc_0.01: 0.3592, per_task/place_cups_rot_acc_0.025: 0.2039, per_task/place_cups_rot_acc_0.05: 0.6117, per_task/place_cups_rot_ideal_acc_0.025: 0.2039, per_task/place_cups_rot_ideal_acc_0.05: 0.6117, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0162, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5695, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5705, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1915, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3191, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4468, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3191, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4468, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0137, per_task/place_wine_at_rack_location_quat_l1_err: 0.7838, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7838, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3830, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1915, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3404, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1915, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3404, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0137, per_task/push_buttons_quat_l1_err: 0.0360, per_task/push_buttons_quat_l1_ideal_err: 0.0360, per_task/push_buttons_pos_acc_0.01: 0.2927, per_task/push_buttons_rot_acc_0.025: 0.7317, per_task/push_buttons_rot_acc_0.05: 0.7317, per_task/push_buttons_rot_ideal_acc_0.025: 0.7317, per_task/push_buttons_rot_ideal_acc_0.05: 0.7317, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0409, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7777, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7777, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0222, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3778, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4667, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3778, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4667, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0115, per_task/put_item_in_drawer_quat_l1_err: 0.4035, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4035, per_task/put_item_in_drawer_pos_acc_0.01: 0.4235, per_task/put_item_in_drawer_rot_acc_0.025: 0.4941, per_task/put_item_in_drawer_rot_acc_0.05: 0.6941, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4941, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6941, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0129, per_task/put_money_in_safe_quat_l1_err: 0.2670, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2670, per_task/put_money_in_safe_pos_acc_0.01: 0.2647, per_task/put_money_in_safe_rot_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_acc_0.05: 0.4412, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4412, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0087, per_task/reach_and_drag_quat_l1_err: 0.2540, per_task/reach_and_drag_quat_l1_ideal_err: 0.2540, per_task/reach_and_drag_pos_acc_0.01: 0.6275, per_task/reach_and_drag_rot_acc_0.025: 0.2941, per_task/reach_and_drag_rot_acc_0.05: 0.4902, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2941, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4902, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0137, per_task/slide_block_to_color_target_quat_l1_err: 0.7052, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.7052, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3704, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2963, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4074, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2963, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4074, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0242, per_task/stack_blocks_quat_l1_err: 0.3480, per_task/stack_blocks_quat_l1_ideal_err: 0.3453, per_task/stack_blocks_pos_acc_0.01: 0.3291, per_task/stack_blocks_rot_acc_0.025: 0.5253, per_task/stack_blocks_rot_acc_0.05: 0.6013, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5253, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6013, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0165, per_task/stack_cups_quat_l1_err: 0.1617, per_task/stack_cups_quat_l1_ideal_err: 0.1617, per_task/stack_cups_pos_acc_0.01: 0.3298, per_task/stack_cups_rot_acc_0.025: 0.4574, per_task/stack_cups_rot_acc_0.05: 0.6596, per_task/stack_cups_rot_ideal_acc_0.025: 0.4574, per_task/stack_cups_rot_ideal_acc_0.05: 0.6596, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0243, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2287, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2287, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.2558, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7674, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7674, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7674, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7674, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0130, per_task/turn_tap_quat_l1_err: 1.9245, per_task/turn_tap_quat_l1_ideal_err: 1.9245, per_task/turn_tap_pos_acc_0.01: 0.3571, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9286, per_task/turn_tap_open_acc_ideal: 0.9286 +04/28/2025 23:20:38 - INFO - __main__ - =============================================== +04/28/2025 23:27:34 - INFO - __main__ - ==============Epoch 180 Step 21500=============== +04/28/2025 23:27:34 - INFO - __main__ - loss_pos:0.1217, loss_rot:0.3486, loss_open:0.0111, loss_total:2.7939 +04/28/2025 23:27:34 - INFO - __main__ - =============================================== +04/28/2025 23:34:27 - INFO - __main__ - ==============Epoch 184 Step 22000=============== +04/28/2025 23:34:27 - INFO - __main__ - loss_pos:0.1218, loss_rot:0.3475, loss_open:0.0095, loss_total:2.7935 +04/28/2025 23:34:27 - INFO - __main__ - =============================================== +04/28/2025 23:34:58 - INFO - __main__ - =================Validation================= +04/28/2025 23:34:58 - INFO - __main__ - total/pos_l2_err: 0.0173, total/quat_l1_err: 0.3522, total/quat_l1_ideal_err: 0.3513, total/open_acc: 0.9960, total/open_acc_ideal: 0.9960, total/pos_acc_0.01: 0.3230, total/rot_acc_0.025: 0.3930, total/rot_acc_0.05: 0.5990, total/rot_ideal_acc_0.025: 0.3930, total/rot_ideal_acc_0.05: 0.5990, per_task/close_jar_pos_l2_err: 0.0152, per_task/close_jar_quat_l1_err: 0.2399, per_task/close_jar_quat_l1_ideal_err: 0.2399, per_task/close_jar_pos_acc_0.01: 0.2200, per_task/close_jar_rot_acc_0.025: 0.4200, per_task/close_jar_rot_acc_0.05: 0.5600, per_task/close_jar_rot_ideal_acc_0.025: 0.4200, per_task/close_jar_rot_ideal_acc_0.05: 0.5600, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0111, per_task/insert_onto_square_peg_quat_l1_err: 0.3659, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3659, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5208, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4583, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6042, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4583, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6042, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0139, per_task/light_bulb_in_quat_l1_err: 0.3012, per_task/light_bulb_in_quat_l1_ideal_err: 0.3012, per_task/light_bulb_in_pos_acc_0.01: 0.4808, per_task/light_bulb_in_rot_acc_0.025: 0.5385, per_task/light_bulb_in_rot_acc_0.05: 0.6346, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5385, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6346, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0111, per_task/meat_off_grill_quat_l1_err: 0.2761, per_task/meat_off_grill_quat_l1_ideal_err: 0.2761, per_task/meat_off_grill_pos_acc_0.01: 0.5312, per_task/meat_off_grill_rot_acc_0.025: 0.5625, per_task/meat_off_grill_rot_acc_0.05: 0.7812, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5625, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7812, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0216, per_task/place_cups_quat_l1_err: 0.3536, per_task/place_cups_quat_l1_ideal_err: 0.3536, per_task/place_cups_pos_acc_0.01: 0.3239, per_task/place_cups_rot_acc_0.025: 0.2324, per_task/place_cups_rot_acc_0.05: 0.6549, per_task/place_cups_rot_ideal_acc_0.025: 0.2324, per_task/place_cups_rot_ideal_acc_0.05: 0.6549, per_task/place_cups_open_acc: 0.9930, per_task/place_cups_open_acc_ideal: 0.9930, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0203, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3123, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3123, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.0882, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3529, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5294, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3529, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5294, per_task/place_shape_in_shape_sorter_open_acc: 0.9706, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9706, per_task/place_wine_at_rack_location_pos_l2_err: 0.0202, per_task/place_wine_at_rack_location_quat_l1_err: 0.4781, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.4781, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1957, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3043, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4783, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3043, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4783, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0141, per_task/push_buttons_quat_l1_err: 0.0154, per_task/push_buttons_quat_l1_ideal_err: 0.0154, per_task/push_buttons_pos_acc_0.01: 0.2308, per_task/push_buttons_rot_acc_0.025: 0.8846, per_task/push_buttons_rot_acc_0.05: 0.8846, per_task/push_buttons_rot_ideal_acc_0.025: 0.8846, per_task/push_buttons_rot_ideal_acc_0.05: 0.8846, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0264, per_task/put_groceries_in_cupboard_quat_l1_err: 0.3479, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.3479, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0976, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3415, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5854, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3415, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5854, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0136, per_task/put_item_in_drawer_quat_l1_err: 0.3274, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3274, per_task/put_item_in_drawer_pos_acc_0.01: 0.3299, per_task/put_item_in_drawer_rot_acc_0.025: 0.4845, per_task/put_item_in_drawer_rot_acc_0.05: 0.7629, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4845, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7629, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0154, per_task/put_money_in_safe_quat_l1_err: 0.2276, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2276, per_task/put_money_in_safe_pos_acc_0.01: 0.2750, per_task/put_money_in_safe_rot_acc_0.025: 0.0250, per_task/put_money_in_safe_rot_acc_0.05: 0.5250, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0250, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5250, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0092, per_task/reach_and_drag_quat_l1_err: 0.3548, per_task/reach_and_drag_quat_l1_ideal_err: 0.3548, per_task/reach_and_drag_pos_acc_0.01: 0.6333, per_task/reach_and_drag_rot_acc_0.025: 0.2000, per_task/reach_and_drag_rot_acc_0.05: 0.3000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0140, per_task/slide_block_to_color_target_quat_l1_err: 0.5225, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5225, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3125, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3438, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4688, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3438, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4688, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0174, per_task/stack_blocks_quat_l1_err: 0.2704, per_task/stack_blocks_quat_l1_ideal_err: 0.2643, per_task/stack_blocks_pos_acc_0.01: 0.2695, per_task/stack_blocks_rot_acc_0.025: 0.5390, per_task/stack_blocks_rot_acc_0.05: 0.6596, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5390, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6596, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0223, per_task/stack_cups_quat_l1_err: 0.1775, per_task/stack_cups_quat_l1_ideal_err: 0.1775, per_task/stack_cups_pos_acc_0.01: 0.2500, per_task/stack_cups_rot_acc_0.025: 0.3571, per_task/stack_cups_rot_acc_0.05: 0.5476, per_task/stack_cups_rot_ideal_acc_0.025: 0.3571, per_task/stack_cups_rot_ideal_acc_0.05: 0.5476, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0257, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2088, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2088, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4286, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7143, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7143, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7143, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7143, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0217, per_task/open_drawer_quat_l1_err: 0.8684, per_task/open_drawer_quat_l1_ideal_err: 0.8684, per_task/open_drawer_pos_acc_0.01: 0.2593, per_task/open_drawer_rot_acc_0.025: 0.4074, per_task/open_drawer_rot_acc_0.05: 0.6296, per_task/open_drawer_rot_ideal_acc_0.025: 0.4074, per_task/open_drawer_rot_ideal_acc_0.05: 0.6296, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0137, per_task/turn_tap_quat_l1_err: 1.9739, per_task/turn_tap_quat_l1_ideal_err: 1.9706, per_task/turn_tap_pos_acc_0.01: 0.4000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9000, per_task/turn_tap_open_acc_ideal: 0.9000 +04/28/2025 23:34:58 - INFO - __main__ - =============================================== +04/28/2025 23:41:51 - INFO - __main__ - ==============Epoch 189 Step 22500=============== +04/28/2025 23:41:52 - INFO - __main__ - loss_pos:0.1222, loss_rot:0.3441, loss_open:0.0109, loss_total:2.7980 +04/28/2025 23:41:52 - INFO - __main__ - =============================================== +04/28/2025 23:48:48 - INFO - __main__ - ==============Epoch 193 Step 23000=============== +04/28/2025 23:48:48 - INFO - __main__ - loss_pos:0.1208, loss_rot:0.3386, loss_open:0.0094, loss_total:2.7643 +04/28/2025 23:48:48 - INFO - __main__ - =============================================== +04/28/2025 23:49:18 - INFO - __main__ - =================Validation================= +04/28/2025 23:49:18 - INFO - __main__ - total/pos_l2_err: 0.0207, total/quat_l1_err: 0.4100, total/quat_l1_ideal_err: 0.4100, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.2880, total/rot_acc_0.025: 0.4210, total/rot_acc_0.05: 0.5780, total/rot_ideal_acc_0.025: 0.4210, total/rot_ideal_acc_0.05: 0.5780, per_task/close_jar_pos_l2_err: 0.0139, per_task/close_jar_quat_l1_err: 0.1648, per_task/close_jar_quat_l1_ideal_err: 0.1648, per_task/close_jar_pos_acc_0.01: 0.4286, per_task/close_jar_rot_acc_0.025: 0.6667, per_task/close_jar_rot_acc_0.05: 0.7381, per_task/close_jar_rot_ideal_acc_0.025: 0.6667, per_task/close_jar_rot_ideal_acc_0.05: 0.7381, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0123, per_task/insert_onto_square_peg_quat_l1_err: 0.2697, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2697, per_task/insert_onto_square_peg_pos_acc_0.01: 0.4091, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5682, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7273, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5682, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7273, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0177, per_task/light_bulb_in_quat_l1_err: 0.5069, per_task/light_bulb_in_quat_l1_ideal_err: 0.5069, per_task/light_bulb_in_pos_acc_0.01: 0.2121, per_task/light_bulb_in_rot_acc_0.025: 0.5303, per_task/light_bulb_in_rot_acc_0.05: 0.5909, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5303, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5909, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0102, per_task/meat_off_grill_quat_l1_err: 0.2958, per_task/meat_off_grill_quat_l1_ideal_err: 0.2958, per_task/meat_off_grill_pos_acc_0.01: 0.5517, per_task/meat_off_grill_rot_acc_0.025: 0.5862, per_task/meat_off_grill_rot_acc_0.05: 0.7241, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5862, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7241, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0271, per_task/place_cups_quat_l1_err: 0.3767, per_task/place_cups_quat_l1_ideal_err: 0.3767, per_task/place_cups_pos_acc_0.01: 0.2149, per_task/place_cups_rot_acc_0.025: 0.1570, per_task/place_cups_rot_acc_0.05: 0.5455, per_task/place_cups_rot_ideal_acc_0.025: 0.1570, per_task/place_cups_rot_ideal_acc_0.05: 0.5455, per_task/place_cups_open_acc: 0.9917, per_task/place_cups_open_acc_ideal: 0.9917, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0211, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.2839, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.2839, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1622, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3514, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5676, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3514, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5676, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0172, per_task/place_wine_at_rack_location_quat_l1_err: 1.0374, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0374, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1951, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1951, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2683, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1951, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2683, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0441, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5718, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5718, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0556, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3333, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4167, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3333, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4167, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0108, per_task/put_item_in_drawer_quat_l1_err: 0.3965, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3965, per_task/put_item_in_drawer_pos_acc_0.01: 0.5269, per_task/put_item_in_drawer_rot_acc_0.025: 0.5484, per_task/put_item_in_drawer_rot_acc_0.05: 0.7097, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5484, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7097, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0181, per_task/put_money_in_safe_quat_l1_err: 0.2879, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2879, per_task/put_money_in_safe_pos_acc_0.01: 0.1739, per_task/put_money_in_safe_rot_acc_0.025: 0.0435, per_task/put_money_in_safe_rot_acc_0.05: 0.3913, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0435, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3913, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0111, per_task/reach_and_drag_quat_l1_err: 0.4130, per_task/reach_and_drag_quat_l1_ideal_err: 0.4130, per_task/reach_and_drag_pos_acc_0.01: 0.4561, per_task/reach_and_drag_rot_acc_0.025: 0.1228, per_task/reach_and_drag_rot_acc_0.05: 0.3860, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1228, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3860, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0170, per_task/slide_block_to_color_target_quat_l1_err: 0.6576, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6576, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2581, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2903, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3871, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2903, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3871, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0204, per_task/stack_blocks_quat_l1_err: 0.3707, per_task/stack_blocks_quat_l1_ideal_err: 0.3707, per_task/stack_blocks_pos_acc_0.01: 0.1911, per_task/stack_blocks_rot_acc_0.025: 0.5478, per_task/stack_blocks_rot_acc_0.05: 0.6178, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5478, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6178, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0219, per_task/stack_cups_quat_l1_err: 0.1978, per_task/stack_cups_quat_l1_ideal_err: 0.1978, per_task/stack_cups_pos_acc_0.01: 0.2593, per_task/stack_cups_rot_acc_0.025: 0.3951, per_task/stack_cups_rot_acc_0.05: 0.5679, per_task/stack_cups_rot_ideal_acc_0.025: 0.3951, per_task/stack_cups_rot_ideal_acc_0.05: 0.5679, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0583, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2103, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2103, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.2766, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8085, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8085, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8085, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8085, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0111, per_task/open_drawer_quat_l1_err: 0.8725, per_task/open_drawer_quat_l1_ideal_err: 0.8725, per_task/open_drawer_pos_acc_0.01: 0.5000, per_task/open_drawer_rot_acc_0.025: 0.5000, per_task/open_drawer_rot_acc_0.05: 0.6250, per_task/open_drawer_rot_ideal_acc_0.025: 0.5000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6250, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0150, per_task/push_buttons_quat_l1_err: 0.0245, per_task/push_buttons_quat_l1_ideal_err: 0.0245, per_task/push_buttons_pos_acc_0.01: 0.3235, per_task/push_buttons_rot_acc_0.025: 0.7941, per_task/push_buttons_rot_acc_0.05: 0.8235, per_task/push_buttons_rot_ideal_acc_0.025: 0.7941, per_task/push_buttons_rot_ideal_acc_0.05: 0.8235, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0154, per_task/turn_tap_quat_l1_err: 2.1472, per_task/turn_tap_quat_l1_ideal_err: 2.1472, per_task/turn_tap_pos_acc_0.01: 0.1429, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/28/2025 23:49:18 - INFO - __main__ - =============================================== +04/28/2025 23:56:15 - INFO - __main__ - ==============Epoch 197 Step 23500=============== +04/28/2025 23:56:15 - INFO - __main__ - loss_pos:0.1201, loss_rot:0.3325, loss_open:0.0118, loss_total:2.7473 +04/28/2025 23:56:15 - INFO - __main__ - =============================================== +04/29/2025 00:03:08 - INFO - __main__ - ==============Epoch 201 Step 24000=============== +04/29/2025 00:03:08 - INFO - __main__ - loss_pos:0.1203, loss_rot:0.3248, loss_open:0.0093, loss_total:2.7401 +04/29/2025 00:03:08 - INFO - __main__ - =============================================== +04/29/2025 00:03:41 - INFO - __main__ - =================Validation================= +04/29/2025 00:03:41 - INFO - __main__ - total/pos_l2_err: 0.0182, total/quat_l1_err: 0.4253, total/quat_l1_ideal_err: 0.4253, total/open_acc: 0.9958, total/open_acc_ideal: 0.9958, total/pos_acc_0.01: 0.3914, total/rot_acc_0.025: 0.3799, total/rot_acc_0.05: 0.5614, total/rot_ideal_acc_0.025: 0.3799, total/rot_ideal_acc_0.05: 0.5614, per_task/close_jar_pos_l2_err: 0.0122, per_task/close_jar_quat_l1_err: 0.1461, per_task/close_jar_quat_l1_ideal_err: 0.1461, per_task/close_jar_pos_acc_0.01: 0.5000, per_task/close_jar_rot_acc_0.025: 0.6250, per_task/close_jar_rot_acc_0.05: 0.8000, per_task/close_jar_rot_ideal_acc_0.025: 0.6250, per_task/close_jar_rot_ideal_acc_0.05: 0.8000, per_task/close_jar_open_acc: 0.9750, per_task/close_jar_open_acc_ideal: 0.9750, per_task/insert_onto_square_peg_pos_l2_err: 0.0115, per_task/insert_onto_square_peg_quat_l1_err: 0.5406, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5406, per_task/insert_onto_square_peg_pos_acc_0.01: 0.4898, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4490, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5306, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4490, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5306, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0128, per_task/light_bulb_in_quat_l1_err: 0.5381, per_task/light_bulb_in_quat_l1_ideal_err: 0.5381, per_task/light_bulb_in_pos_acc_0.01: 0.5211, per_task/light_bulb_in_rot_acc_0.025: 0.4085, per_task/light_bulb_in_rot_acc_0.05: 0.4789, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4085, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4789, per_task/light_bulb_in_open_acc: 0.9859, per_task/light_bulb_in_open_acc_ideal: 0.9859, per_task/meat_off_grill_pos_l2_err: 0.0111, per_task/meat_off_grill_quat_l1_err: 0.4885, per_task/meat_off_grill_quat_l1_ideal_err: 0.4885, per_task/meat_off_grill_pos_acc_0.01: 0.4595, per_task/meat_off_grill_rot_acc_0.025: 0.4595, per_task/meat_off_grill_rot_acc_0.05: 0.6486, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.4595, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6486, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0102, per_task/open_drawer_quat_l1_err: 0.8808, per_task/open_drawer_quat_l1_ideal_err: 0.8808, per_task/open_drawer_pos_acc_0.01: 0.5833, per_task/open_drawer_rot_acc_0.025: 0.3750, per_task/open_drawer_rot_acc_0.05: 0.6250, per_task/open_drawer_rot_ideal_acc_0.025: 0.3750, per_task/open_drawer_rot_ideal_acc_0.05: 0.6250, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0321, per_task/place_cups_quat_l1_err: 0.3895, per_task/place_cups_quat_l1_ideal_err: 0.3895, per_task/place_cups_pos_acc_0.01: 0.3578, per_task/place_cups_rot_acc_0.025: 0.1560, per_task/place_cups_rot_acc_0.05: 0.5872, per_task/place_cups_rot_ideal_acc_0.025: 0.1560, per_task/place_cups_rot_ideal_acc_0.05: 0.5872, per_task/place_cups_open_acc: 0.9908, per_task/place_cups_open_acc_ideal: 0.9908, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0202, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5275, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5275, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2308, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3846, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4872, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3846, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4872, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0260, per_task/place_wine_at_rack_location_quat_l1_err: 0.9177, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9177, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1500, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1250, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2250, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1250, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2250, per_task/place_wine_at_rack_location_open_acc: 0.9750, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9750, per_task/push_buttons_pos_l2_err: 0.0134, per_task/push_buttons_quat_l1_err: 0.0309, per_task/push_buttons_quat_l1_ideal_err: 0.0309, per_task/push_buttons_pos_acc_0.01: 0.4211, per_task/push_buttons_rot_acc_0.025: 0.7632, per_task/push_buttons_rot_acc_0.05: 0.7632, per_task/push_buttons_rot_ideal_acc_0.025: 0.7632, per_task/push_buttons_rot_ideal_acc_0.05: 0.7632, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0260, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6247, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6247, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0833, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3056, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4167, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3056, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4167, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0115, per_task/put_item_in_drawer_quat_l1_err: 0.3889, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3889, per_task/put_item_in_drawer_pos_acc_0.01: 0.4468, per_task/put_item_in_drawer_rot_acc_0.025: 0.5106, per_task/put_item_in_drawer_rot_acc_0.05: 0.7234, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5106, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7234, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0171, per_task/put_money_in_safe_quat_l1_err: 0.3129, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3129, per_task/put_money_in_safe_pos_acc_0.01: 0.1818, per_task/put_money_in_safe_rot_acc_0.025: 0.0303, per_task/put_money_in_safe_rot_acc_0.05: 0.4545, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0303, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4545, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0108, per_task/reach_and_drag_quat_l1_err: 0.3609, per_task/reach_and_drag_quat_l1_ideal_err: 0.3609, per_task/reach_and_drag_pos_acc_0.01: 0.6190, per_task/reach_and_drag_rot_acc_0.025: 0.2619, per_task/reach_and_drag_rot_acc_0.05: 0.4286, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2619, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4286, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0127, per_task/slide_block_to_color_target_quat_l1_err: 0.5020, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5020, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3548, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2581, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4194, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2581, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4194, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0175, per_task/stack_blocks_quat_l1_err: 0.3158, per_task/stack_blocks_quat_l1_ideal_err: 0.3158, per_task/stack_blocks_pos_acc_0.01: 0.3689, per_task/stack_blocks_rot_acc_0.025: 0.4262, per_task/stack_blocks_rot_acc_0.05: 0.6066, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4262, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6066, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0164, per_task/stack_cups_quat_l1_err: 0.2017, per_task/stack_cups_quat_l1_ideal_err: 0.2017, per_task/stack_cups_pos_acc_0.01: 0.4222, per_task/stack_cups_rot_acc_0.025: 0.3778, per_task/stack_cups_rot_acc_0.05: 0.5667, per_task/stack_cups_rot_ideal_acc_0.025: 0.3778, per_task/stack_cups_rot_ideal_acc_0.05: 0.5667, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0395, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1771, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1771, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3488, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6744, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6744, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6744, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6744, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0139, per_task/turn_tap_quat_l1_err: 2.0199, per_task/turn_tap_quat_l1_ideal_err: 2.0199, per_task/turn_tap_pos_acc_0.01: 0.3333, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 00:03:41 - INFO - __main__ - =============================================== +04/29/2025 00:10:35 - INFO - __main__ - ==============Epoch 205 Step 24500=============== +04/29/2025 00:10:36 - INFO - __main__ - loss_pos:0.1198, loss_rot:0.3342, loss_open:0.0132, loss_total:2.7425 +04/29/2025 00:10:36 - INFO - __main__ - =============================================== +04/29/2025 00:17:26 - INFO - __main__ - ==============Epoch 210 Step 25000=============== +04/29/2025 00:17:26 - INFO - __main__ - loss_pos:0.1195, loss_rot:0.3204, loss_open:0.0089, loss_total:2.7202 +04/29/2025 00:17:26 - INFO - __main__ - =============================================== +04/29/2025 00:17:57 - INFO - __main__ - =================Validation================= +04/29/2025 00:17:57 - INFO - __main__ - total/pos_l2_err: 0.0165, total/quat_l1_err: 0.3785, total/quat_l1_ideal_err: 0.3785, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.4240, total/rot_acc_0.025: 0.4080, total/rot_acc_0.05: 0.6100, total/rot_ideal_acc_0.025: 0.4080, total/rot_ideal_acc_0.05: 0.6100, per_task/close_jar_pos_l2_err: 0.0128, per_task/close_jar_quat_l1_err: 0.1888, per_task/close_jar_quat_l1_ideal_err: 0.1888, per_task/close_jar_pos_acc_0.01: 0.4043, per_task/close_jar_rot_acc_0.025: 0.4681, per_task/close_jar_rot_acc_0.05: 0.6809, per_task/close_jar_rot_ideal_acc_0.025: 0.4681, per_task/close_jar_rot_ideal_acc_0.05: 0.6809, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0103, per_task/insert_onto_square_peg_quat_l1_err: 0.5837, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5837, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3478, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4565, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3478, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4565, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0131, per_task/light_bulb_in_quat_l1_err: 0.3081, per_task/light_bulb_in_quat_l1_ideal_err: 0.3081, per_task/light_bulb_in_pos_acc_0.01: 0.5738, per_task/light_bulb_in_rot_acc_0.025: 0.4754, per_task/light_bulb_in_rot_acc_0.05: 0.5574, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4754, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5574, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0086, per_task/meat_off_grill_quat_l1_err: 0.2106, per_task/meat_off_grill_quat_l1_ideal_err: 0.2106, per_task/meat_off_grill_pos_acc_0.01: 0.6739, per_task/meat_off_grill_rot_acc_0.025: 0.6087, per_task/meat_off_grill_rot_acc_0.05: 0.7609, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6087, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7609, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0121, per_task/open_drawer_quat_l1_err: 0.4584, per_task/open_drawer_quat_l1_ideal_err: 0.4584, per_task/open_drawer_pos_acc_0.01: 0.3333, per_task/open_drawer_rot_acc_0.025: 0.6190, per_task/open_drawer_rot_acc_0.05: 0.8095, per_task/open_drawer_rot_ideal_acc_0.025: 0.6190, per_task/open_drawer_rot_ideal_acc_0.05: 0.8095, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0216, per_task/place_cups_quat_l1_err: 0.3487, per_task/place_cups_quat_l1_ideal_err: 0.3487, per_task/place_cups_pos_acc_0.01: 0.4560, per_task/place_cups_rot_acc_0.025: 0.2560, per_task/place_cups_rot_acc_0.05: 0.6800, per_task/place_cups_rot_ideal_acc_0.025: 0.2560, per_task/place_cups_rot_ideal_acc_0.05: 0.6800, per_task/place_cups_open_acc: 0.9920, per_task/place_cups_open_acc_ideal: 0.9920, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0199, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3388, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3388, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1471, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4412, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6176, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4412, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6176, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0166, per_task/place_wine_at_rack_location_quat_l1_err: 0.9900, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9900, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.2439, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0976, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3171, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0976, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3171, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0120, per_task/push_buttons_quat_l1_err: 0.0390, per_task/push_buttons_quat_l1_ideal_err: 0.0390, per_task/push_buttons_pos_acc_0.01: 0.4250, per_task/push_buttons_rot_acc_0.025: 0.7000, per_task/push_buttons_rot_acc_0.05: 0.7000, per_task/push_buttons_rot_ideal_acc_0.025: 0.7000, per_task/push_buttons_rot_ideal_acc_0.05: 0.7000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0259, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5189, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5189, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0889, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4667, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5333, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4667, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5333, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0090, per_task/put_item_in_drawer_quat_l1_err: 0.3510, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3510, per_task/put_item_in_drawer_pos_acc_0.01: 0.7123, per_task/put_item_in_drawer_rot_acc_0.025: 0.4384, per_task/put_item_in_drawer_rot_acc_0.05: 0.7534, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4384, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7534, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0145, per_task/put_money_in_safe_quat_l1_err: 0.3207, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3207, per_task/put_money_in_safe_pos_acc_0.01: 0.3019, per_task/put_money_in_safe_rot_acc_0.025: 0.0755, per_task/put_money_in_safe_rot_acc_0.05: 0.4906, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0755, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4906, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0115, per_task/reach_and_drag_quat_l1_err: 0.2609, per_task/reach_and_drag_quat_l1_ideal_err: 0.2609, per_task/reach_and_drag_pos_acc_0.01: 0.3939, per_task/reach_and_drag_rot_acc_0.025: 0.3333, per_task/reach_and_drag_rot_acc_0.05: 0.4848, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4848, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0166, per_task/slide_block_to_color_target_quat_l1_err: 0.3558, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3558, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3235, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3235, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5294, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3235, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5294, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0161, per_task/stack_blocks_quat_l1_err: 0.3846, per_task/stack_blocks_quat_l1_ideal_err: 0.3846, per_task/stack_blocks_pos_acc_0.01: 0.4161, per_task/stack_blocks_rot_acc_0.025: 0.5168, per_task/stack_blocks_rot_acc_0.05: 0.6376, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5168, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6376, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0173, per_task/stack_cups_quat_l1_err: 0.1602, per_task/stack_cups_quat_l1_ideal_err: 0.1602, per_task/stack_cups_pos_acc_0.01: 0.4483, per_task/stack_cups_rot_acc_0.025: 0.3908, per_task/stack_cups_rot_acc_0.05: 0.6782, per_task/stack_cups_rot_ideal_acc_0.025: 0.3908, per_task/stack_cups_rot_ideal_acc_0.05: 0.6782, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0387, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2630, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2630, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3953, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7209, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7209, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7209, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7209, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0127, per_task/turn_tap_quat_l1_err: 1.7372, per_task/turn_tap_quat_l1_ideal_err: 1.7372, per_task/turn_tap_pos_acc_0.01: 0.2727, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 00:17:57 - INFO - __main__ - =============================================== +04/29/2025 00:24:53 - INFO - __main__ - ==============Epoch 214 Step 25500=============== +04/29/2025 00:24:53 - INFO - __main__ - loss_pos:0.1188, loss_rot:0.3255, loss_open:0.0096, loss_total:2.7108 +04/29/2025 00:24:53 - INFO - __main__ - =============================================== +04/29/2025 00:31:48 - INFO - __main__ - ==============Epoch 218 Step 26000=============== +04/29/2025 00:31:48 - INFO - __main__ - loss_pos:0.1182, loss_rot:0.3148, loss_open:0.0146, loss_total:2.6935 +04/29/2025 00:31:48 - INFO - __main__ - =============================================== +04/29/2025 00:32:18 - INFO - __main__ - =================Validation================= +04/29/2025 00:32:18 - INFO - __main__ - total/pos_l2_err: 0.0144, total/quat_l1_err: 0.3704, total/quat_l1_ideal_err: 0.3703, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.4040, total/rot_acc_0.025: 0.4130, total/rot_acc_0.05: 0.6140, total/rot_ideal_acc_0.025: 0.4140, total/rot_ideal_acc_0.05: 0.6140, per_task/close_jar_pos_l2_err: 0.0129, per_task/close_jar_quat_l1_err: 0.1548, per_task/close_jar_quat_l1_ideal_err: 0.1548, per_task/close_jar_pos_acc_0.01: 0.3878, per_task/close_jar_rot_acc_0.025: 0.5714, per_task/close_jar_rot_acc_0.05: 0.7143, per_task/close_jar_rot_ideal_acc_0.025: 0.5714, per_task/close_jar_rot_ideal_acc_0.05: 0.7143, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0119, per_task/insert_onto_square_peg_quat_l1_err: 0.3608, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3608, per_task/insert_onto_square_peg_pos_acc_0.01: 0.3684, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4474, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6579, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4474, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6579, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0122, per_task/light_bulb_in_quat_l1_err: 0.5624, per_task/light_bulb_in_quat_l1_ideal_err: 0.5624, per_task/light_bulb_in_pos_acc_0.01: 0.4068, per_task/light_bulb_in_rot_acc_0.025: 0.4746, per_task/light_bulb_in_rot_acc_0.05: 0.5593, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4746, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5593, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0107, per_task/meat_off_grill_quat_l1_err: 0.2346, per_task/meat_off_grill_quat_l1_ideal_err: 0.2346, per_task/meat_off_grill_pos_acc_0.01: 0.5532, per_task/meat_off_grill_rot_acc_0.025: 0.6596, per_task/meat_off_grill_rot_acc_0.05: 0.8298, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6596, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8298, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0094, per_task/open_drawer_quat_l1_err: 0.4341, per_task/open_drawer_quat_l1_ideal_err: 0.4341, per_task/open_drawer_pos_acc_0.01: 0.5000, per_task/open_drawer_rot_acc_0.025: 0.6364, per_task/open_drawer_rot_acc_0.05: 0.8182, per_task/open_drawer_rot_ideal_acc_0.025: 0.6364, per_task/open_drawer_rot_ideal_acc_0.05: 0.8182, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0177, per_task/place_cups_quat_l1_err: 0.3828, per_task/place_cups_quat_l1_ideal_err: 0.3823, per_task/place_cups_pos_acc_0.01: 0.5038, per_task/place_cups_rot_acc_0.025: 0.1805, per_task/place_cups_rot_acc_0.05: 0.5940, per_task/place_cups_rot_ideal_acc_0.025: 0.1805, per_task/place_cups_rot_ideal_acc_0.05: 0.5940, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0167, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4872, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4872, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1818, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3030, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5455, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3030, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5455, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0135, per_task/place_wine_at_rack_location_quat_l1_err: 0.7989, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7989, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3529, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2549, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4118, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2549, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4118, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0123, per_task/push_buttons_quat_l1_err: 0.0302, per_task/push_buttons_quat_l1_ideal_err: 0.0302, per_task/push_buttons_pos_acc_0.01: 0.3846, per_task/push_buttons_rot_acc_0.025: 0.7692, per_task/push_buttons_rot_acc_0.05: 0.7692, per_task/push_buttons_rot_ideal_acc_0.025: 0.7692, per_task/push_buttons_rot_ideal_acc_0.05: 0.7692, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0287, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4963, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4963, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4118, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5882, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4118, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5882, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0094, per_task/put_item_in_drawer_quat_l1_err: 0.3838, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3838, per_task/put_item_in_drawer_pos_acc_0.01: 0.6154, per_task/put_item_in_drawer_rot_acc_0.025: 0.5256, per_task/put_item_in_drawer_rot_acc_0.05: 0.7179, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5256, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7179, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0156, per_task/put_money_in_safe_quat_l1_err: 0.3154, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3154, per_task/put_money_in_safe_pos_acc_0.01: 0.2449, per_task/put_money_in_safe_rot_acc_0.025: 0.0204, per_task/put_money_in_safe_rot_acc_0.05: 0.3878, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0204, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3878, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0102, per_task/reach_and_drag_quat_l1_err: 0.3136, per_task/reach_and_drag_quat_l1_ideal_err: 0.3136, per_task/reach_and_drag_pos_acc_0.01: 0.5370, per_task/reach_and_drag_rot_acc_0.025: 0.2963, per_task/reach_and_drag_rot_acc_0.05: 0.5000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2963, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0166, per_task/slide_block_to_color_target_quat_l1_err: 0.4243, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4243, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2973, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4054, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5676, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4054, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5676, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0160, per_task/stack_blocks_quat_l1_err: 0.3093, per_task/stack_blocks_quat_l1_ideal_err: 0.3093, per_task/stack_blocks_pos_acc_0.01: 0.3113, per_task/stack_blocks_rot_acc_0.025: 0.4834, per_task/stack_blocks_rot_acc_0.05: 0.6424, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4834, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6424, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0160, per_task/stack_cups_quat_l1_err: 0.1233, per_task/stack_cups_quat_l1_ideal_err: 0.1230, per_task/stack_cups_pos_acc_0.01: 0.5125, per_task/stack_cups_rot_acc_0.025: 0.4000, per_task/stack_cups_rot_acc_0.05: 0.6250, per_task/stack_cups_rot_ideal_acc_0.025: 0.4125, per_task/stack_cups_rot_ideal_acc_0.05: 0.6250, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0113, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1446, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1446, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8667, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8667, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0120, per_task/turn_tap_quat_l1_err: 1.9130, per_task/turn_tap_quat_l1_ideal_err: 1.9130, per_task/turn_tap_pos_acc_0.01: 0.2500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 00:32:18 - INFO - __main__ - =============================================== +04/29/2025 00:39:09 - INFO - __main__ - ==============Epoch 222 Step 26500=============== +04/29/2025 00:39:09 - INFO - __main__ - loss_pos:0.1172, loss_rot:0.3216, loss_open:0.0072, loss_total:2.6736 +04/29/2025 00:39:09 - INFO - __main__ - =============================================== +04/29/2025 00:46:02 - INFO - __main__ - ==============Epoch 226 Step 27000=============== +04/29/2025 00:46:02 - INFO - __main__ - loss_pos:0.1178, loss_rot:0.3138, loss_open:0.0080, loss_total:2.6783 +04/29/2025 00:46:02 - INFO - __main__ - =============================================== +04/29/2025 00:46:33 - INFO - __main__ - =================Validation================= +04/29/2025 00:46:33 - INFO - __main__ - total/pos_l2_err: 0.0161, total/quat_l1_err: 0.4121, total/quat_l1_ideal_err: 0.4122, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.3840, total/rot_acc_0.025: 0.3980, total/rot_acc_0.05: 0.5850, total/rot_ideal_acc_0.025: 0.3980, total/rot_ideal_acc_0.05: 0.5860, per_task/close_jar_pos_l2_err: 0.0109, per_task/close_jar_quat_l1_err: 0.2504, per_task/close_jar_quat_l1_ideal_err: 0.2504, per_task/close_jar_pos_acc_0.01: 0.4545, per_task/close_jar_rot_acc_0.025: 0.5455, per_task/close_jar_rot_acc_0.05: 0.6545, per_task/close_jar_rot_ideal_acc_0.025: 0.5455, per_task/close_jar_rot_ideal_acc_0.05: 0.6545, per_task/close_jar_open_acc: 0.9818, per_task/close_jar_open_acc_ideal: 0.9818, per_task/insert_onto_square_peg_pos_l2_err: 0.0120, per_task/insert_onto_square_peg_quat_l1_err: 0.5575, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5591, per_task/insert_onto_square_peg_pos_acc_0.01: 0.4359, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4359, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5641, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4359, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5641, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0119, per_task/light_bulb_in_quat_l1_err: 0.3191, per_task/light_bulb_in_quat_l1_ideal_err: 0.3191, per_task/light_bulb_in_pos_acc_0.01: 0.3889, per_task/light_bulb_in_rot_acc_0.025: 0.4444, per_task/light_bulb_in_rot_acc_0.05: 0.5185, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4444, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5185, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0107, per_task/meat_off_grill_quat_l1_err: 0.3878, per_task/meat_off_grill_quat_l1_ideal_err: 0.3878, per_task/meat_off_grill_pos_acc_0.01: 0.5745, per_task/meat_off_grill_rot_acc_0.025: 0.5532, per_task/meat_off_grill_rot_acc_0.05: 0.6809, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5532, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6809, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0096, per_task/open_drawer_quat_l1_err: 0.6350, per_task/open_drawer_quat_l1_ideal_err: 0.6350, per_task/open_drawer_pos_acc_0.01: 0.6154, per_task/open_drawer_rot_acc_0.025: 0.5000, per_task/open_drawer_rot_acc_0.05: 0.6923, per_task/open_drawer_rot_ideal_acc_0.025: 0.5000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6923, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0190, per_task/place_cups_quat_l1_err: 0.4346, per_task/place_cups_quat_l1_ideal_err: 0.4346, per_task/place_cups_pos_acc_0.01: 0.4018, per_task/place_cups_rot_acc_0.025: 0.1339, per_task/place_cups_rot_acc_0.05: 0.6250, per_task/place_cups_rot_ideal_acc_0.025: 0.1339, per_task/place_cups_rot_ideal_acc_0.05: 0.6250, per_task/place_cups_open_acc: 0.9911, per_task/place_cups_open_acc_ideal: 0.9911, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0161, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5937, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5937, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.1351, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3784, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4324, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3784, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4324, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0187, per_task/place_wine_at_rack_location_quat_l1_err: 1.0165, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0165, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.1316, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1842, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3421, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1842, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3421, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0131, per_task/push_buttons_quat_l1_err: 0.0380, per_task/push_buttons_quat_l1_ideal_err: 0.0380, per_task/push_buttons_pos_acc_0.01: 0.3750, per_task/push_buttons_rot_acc_0.025: 0.7188, per_task/push_buttons_rot_acc_0.05: 0.7188, per_task/push_buttons_rot_ideal_acc_0.025: 0.7188, per_task/push_buttons_rot_ideal_acc_0.05: 0.7188, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0418, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7023, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7023, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0600, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4200, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4200, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0093, per_task/put_item_in_drawer_quat_l1_err: 0.4396, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4396, per_task/put_item_in_drawer_pos_acc_0.01: 0.6437, per_task/put_item_in_drawer_rot_acc_0.025: 0.4943, per_task/put_item_in_drawer_rot_acc_0.05: 0.6782, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4943, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6782, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0129, per_task/put_money_in_safe_quat_l1_err: 0.2751, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2745, per_task/put_money_in_safe_pos_acc_0.01: 0.3396, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.5472, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5660, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0133, per_task/reach_and_drag_quat_l1_err: 0.2874, per_task/reach_and_drag_quat_l1_ideal_err: 0.2874, per_task/reach_and_drag_pos_acc_0.01: 0.2889, per_task/reach_and_drag_rot_acc_0.025: 0.2889, per_task/reach_and_drag_rot_acc_0.05: 0.4000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2889, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0154, per_task/slide_block_to_color_target_quat_l1_err: 0.5346, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5346, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2286, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3143, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4571, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3143, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4571, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0197, per_task/stack_blocks_quat_l1_err: 0.3661, per_task/stack_blocks_quat_l1_ideal_err: 0.3661, per_task/stack_blocks_pos_acc_0.01: 0.2391, per_task/stack_blocks_rot_acc_0.025: 0.4710, per_task/stack_blocks_rot_acc_0.05: 0.6377, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4710, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6377, per_task/stack_blocks_open_acc: 0.9928, per_task/stack_blocks_open_acc_ideal: 0.9928, per_task/stack_cups_pos_l2_err: 0.0138, per_task/stack_cups_quat_l1_err: 0.1474, per_task/stack_cups_quat_l1_ideal_err: 0.1474, per_task/stack_cups_pos_acc_0.01: 0.5435, per_task/stack_cups_rot_acc_0.025: 0.5109, per_task/stack_cups_rot_acc_0.05: 0.6630, per_task/stack_cups_rot_ideal_acc_0.025: 0.5109, per_task/stack_cups_rot_ideal_acc_0.05: 0.6630, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0208, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2085, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2085, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4286, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7143, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7143, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7143, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7143, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0081, per_task/turn_tap_quat_l1_err: 1.8458, per_task/turn_tap_quat_l1_ideal_err: 1.8458, per_task/turn_tap_pos_acc_0.01: 0.8182, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 00:46:33 - INFO - __main__ - =============================================== +04/29/2025 00:53:30 - INFO - __main__ - ==============Epoch 231 Step 27500=============== +04/29/2025 00:53:30 - INFO - __main__ - loss_pos:0.1172, loss_rot:0.3032, loss_open:0.0067, loss_total:2.6547 +04/29/2025 00:53:30 - INFO - __main__ - =============================================== +04/29/2025 01:00:22 - INFO - __main__ - ==============Epoch 235 Step 28000=============== +04/29/2025 01:00:22 - INFO - __main__ - loss_pos:0.1171, loss_rot:0.3046, loss_open:0.0083, loss_total:2.6554 +04/29/2025 01:00:22 - INFO - __main__ - =============================================== +04/29/2025 01:00:53 - INFO - __main__ - =================Validation================= +04/29/2025 01:00:53 - INFO - __main__ - total/pos_l2_err: 0.0169, total/quat_l1_err: 0.4089, total/quat_l1_ideal_err: 0.4071, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.4390, total/rot_acc_0.025: 0.4120, total/rot_acc_0.05: 0.5750, total/rot_ideal_acc_0.025: 0.4120, total/rot_ideal_acc_0.05: 0.5750, per_task/close_jar_pos_l2_err: 0.0146, per_task/close_jar_quat_l1_err: 0.1690, per_task/close_jar_quat_l1_ideal_err: 0.1690, per_task/close_jar_pos_acc_0.01: 0.3333, per_task/close_jar_rot_acc_0.025: 0.6222, per_task/close_jar_rot_acc_0.05: 0.6889, per_task/close_jar_rot_ideal_acc_0.025: 0.6222, per_task/close_jar_rot_ideal_acc_0.05: 0.6889, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0117, per_task/insert_onto_square_peg_quat_l1_err: 0.3467, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3467, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5938, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5312, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5938, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5312, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5938, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0091, per_task/light_bulb_in_quat_l1_err: 0.4944, per_task/light_bulb_in_quat_l1_ideal_err: 0.4944, per_task/light_bulb_in_pos_acc_0.01: 0.6984, per_task/light_bulb_in_rot_acc_0.025: 0.5079, per_task/light_bulb_in_rot_acc_0.05: 0.5238, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5079, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5238, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0093, per_task/meat_off_grill_quat_l1_err: 0.2025, per_task/meat_off_grill_quat_l1_ideal_err: 0.2025, per_task/meat_off_grill_pos_acc_0.01: 0.6250, per_task/meat_off_grill_rot_acc_0.025: 0.5750, per_task/meat_off_grill_rot_acc_0.05: 0.7250, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5750, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7250, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0208, per_task/place_cups_quat_l1_err: 0.4705, per_task/place_cups_quat_l1_ideal_err: 0.4705, per_task/place_cups_pos_acc_0.01: 0.4455, per_task/place_cups_rot_acc_0.025: 0.1636, per_task/place_cups_rot_acc_0.05: 0.5364, per_task/place_cups_rot_ideal_acc_0.025: 0.1636, per_task/place_cups_rot_ideal_acc_0.05: 0.5364, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0172, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3516, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3516, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2083, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5417, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5417, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0121, per_task/place_wine_at_rack_location_quat_l1_err: 0.9529, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9529, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1429, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2619, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1429, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2619, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0107, per_task/push_buttons_quat_l1_err: 0.0327, per_task/push_buttons_quat_l1_ideal_err: 0.0327, per_task/push_buttons_pos_acc_0.01: 0.4062, per_task/push_buttons_rot_acc_0.025: 0.7500, per_task/push_buttons_rot_acc_0.05: 0.7500, per_task/push_buttons_rot_ideal_acc_0.025: 0.7500, per_task/push_buttons_rot_ideal_acc_0.05: 0.7500, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0273, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7283, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7283, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1220, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2439, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4146, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2439, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4146, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0123, per_task/put_item_in_drawer_quat_l1_err: 0.3623, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3623, per_task/put_item_in_drawer_pos_acc_0.01: 0.3148, per_task/put_item_in_drawer_rot_acc_0.025: 0.5093, per_task/put_item_in_drawer_rot_acc_0.05: 0.7222, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5093, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7222, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0173, per_task/put_money_in_safe_quat_l1_err: 0.2783, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2783, per_task/put_money_in_safe_pos_acc_0.01: 0.3191, per_task/put_money_in_safe_rot_acc_0.025: 0.0213, per_task/put_money_in_safe_rot_acc_0.05: 0.3617, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0213, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3617, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0087, per_task/reach_and_drag_quat_l1_err: 0.2972, per_task/reach_and_drag_quat_l1_ideal_err: 0.2972, per_task/reach_and_drag_pos_acc_0.01: 0.6111, per_task/reach_and_drag_rot_acc_0.025: 0.2963, per_task/reach_and_drag_rot_acc_0.05: 0.4444, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2963, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4444, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0144, per_task/slide_block_to_color_target_quat_l1_err: 0.4191, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4191, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3750, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3750, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5500, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3750, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5500, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0144, per_task/stack_blocks_quat_l1_err: 0.3901, per_task/stack_blocks_quat_l1_ideal_err: 0.3901, per_task/stack_blocks_pos_acc_0.01: 0.4178, per_task/stack_blocks_rot_acc_0.025: 0.4521, per_task/stack_blocks_rot_acc_0.05: 0.5959, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4521, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5959, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0275, per_task/stack_cups_quat_l1_err: 0.3299, per_task/stack_cups_quat_l1_ideal_err: 0.3107, per_task/stack_cups_pos_acc_0.01: 0.4681, per_task/stack_cups_rot_acc_0.025: 0.4574, per_task/stack_cups_rot_acc_0.05: 0.5957, per_task/stack_cups_rot_ideal_acc_0.025: 0.4574, per_task/stack_cups_rot_ideal_acc_0.05: 0.5957, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0436, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1886, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1886, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4667, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0097, per_task/open_drawer_quat_l1_err: 0.7883, per_task/open_drawer_quat_l1_ideal_err: 0.7883, per_task/open_drawer_pos_acc_0.01: 0.5667, per_task/open_drawer_rot_acc_0.025: 0.3667, per_task/open_drawer_rot_acc_0.05: 0.6333, per_task/open_drawer_rot_ideal_acc_0.025: 0.3667, per_task/open_drawer_rot_ideal_acc_0.05: 0.6333, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0103, per_task/turn_tap_quat_l1_err: 2.1048, per_task/turn_tap_quat_l1_ideal_err: 2.1048, per_task/turn_tap_pos_acc_0.01: 0.4286, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 01:00:53 - INFO - __main__ - =============================================== +04/29/2025 01:07:46 - INFO - __main__ - ==============Epoch 239 Step 28500=============== +04/29/2025 01:07:46 - INFO - __main__ - loss_pos:0.1176, loss_rot:0.3118, loss_open:0.0088, loss_total:2.6728 +04/29/2025 01:07:46 - INFO - __main__ - =============================================== +04/29/2025 01:14:38 - INFO - __main__ - ==============Epoch 243 Step 29000=============== +04/29/2025 01:14:39 - INFO - __main__ - loss_pos:0.1160, loss_rot:0.3006, loss_open:0.0092, loss_total:2.6291 +04/29/2025 01:14:39 - INFO - __main__ - =============================================== +04/29/2025 01:15:09 - INFO - __main__ - =================Validation================= +04/29/2025 01:15:09 - INFO - __main__ - total/pos_l2_err: 0.0167, total/quat_l1_err: 0.3781, total/quat_l1_ideal_err: 0.3779, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.3270, total/rot_acc_0.025: 0.4010, total/rot_acc_0.05: 0.5850, total/rot_ideal_acc_0.025: 0.4010, total/rot_ideal_acc_0.05: 0.5850, per_task/close_jar_pos_l2_err: 0.0119, per_task/close_jar_quat_l1_err: 0.2156, per_task/close_jar_quat_l1_ideal_err: 0.2156, per_task/close_jar_pos_acc_0.01: 0.4200, per_task/close_jar_rot_acc_0.025: 0.5000, per_task/close_jar_rot_acc_0.05: 0.6200, per_task/close_jar_rot_ideal_acc_0.025: 0.5000, per_task/close_jar_rot_ideal_acc_0.05: 0.6200, per_task/close_jar_open_acc: 0.9800, per_task/close_jar_open_acc_ideal: 0.9800, per_task/insert_onto_square_peg_pos_l2_err: 0.0129, per_task/insert_onto_square_peg_quat_l1_err: 0.2481, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2481, per_task/insert_onto_square_peg_pos_acc_0.01: 0.2667, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4444, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6667, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4444, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6667, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0125, per_task/light_bulb_in_quat_l1_err: 0.3484, per_task/light_bulb_in_quat_l1_ideal_err: 0.3484, per_task/light_bulb_in_pos_acc_0.01: 0.3099, per_task/light_bulb_in_rot_acc_0.025: 0.5352, per_task/light_bulb_in_rot_acc_0.05: 0.5634, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5352, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5634, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0124, per_task/meat_off_grill_quat_l1_err: 0.4069, per_task/meat_off_grill_quat_l1_ideal_err: 0.4069, per_task/meat_off_grill_pos_acc_0.01: 0.3684, per_task/meat_off_grill_rot_acc_0.025: 0.5000, per_task/meat_off_grill_rot_acc_0.05: 0.7368, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5000, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7368, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0104, per_task/open_drawer_quat_l1_err: 0.7247, per_task/open_drawer_quat_l1_ideal_err: 0.7247, per_task/open_drawer_pos_acc_0.01: 0.5000, per_task/open_drawer_rot_acc_0.025: 0.6875, per_task/open_drawer_rot_acc_0.05: 0.6875, per_task/open_drawer_rot_ideal_acc_0.025: 0.6875, per_task/open_drawer_rot_ideal_acc_0.05: 0.6875, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0285, per_task/place_cups_quat_l1_err: 0.3963, per_task/place_cups_quat_l1_ideal_err: 0.3948, per_task/place_cups_pos_acc_0.01: 0.3828, per_task/place_cups_rot_acc_0.025: 0.1406, per_task/place_cups_rot_acc_0.05: 0.5859, per_task/place_cups_rot_ideal_acc_0.025: 0.1406, per_task/place_cups_rot_ideal_acc_0.05: 0.5859, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0162, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4781, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4781, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2632, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3684, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5526, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3684, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5526, per_task/place_shape_in_shape_sorter_open_acc: 0.9737, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9737, per_task/place_wine_at_rack_location_pos_l2_err: 0.0136, per_task/place_wine_at_rack_location_quat_l1_err: 0.9913, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9913, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.2857, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2286, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3143, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2286, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3143, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0132, per_task/push_buttons_quat_l1_err: 0.0361, per_task/push_buttons_quat_l1_ideal_err: 0.0361, per_task/push_buttons_pos_acc_0.01: 0.2414, per_task/push_buttons_rot_acc_0.025: 0.7241, per_task/push_buttons_rot_acc_0.05: 0.7241, per_task/push_buttons_rot_ideal_acc_0.025: 0.7241, per_task/push_buttons_rot_ideal_acc_0.05: 0.7241, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0253, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6461, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6461, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1163, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2791, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4419, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2791, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4419, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0109, per_task/put_item_in_drawer_quat_l1_err: 0.3338, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3338, per_task/put_item_in_drawer_pos_acc_0.01: 0.4536, per_task/put_item_in_drawer_rot_acc_0.025: 0.5361, per_task/put_item_in_drawer_rot_acc_0.05: 0.7320, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5361, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7320, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0127, per_task/reach_and_drag_quat_l1_err: 0.3668, per_task/reach_and_drag_quat_l1_ideal_err: 0.3668, per_task/reach_and_drag_pos_acc_0.01: 0.3065, per_task/reach_and_drag_rot_acc_0.025: 0.1613, per_task/reach_and_drag_rot_acc_0.05: 0.3871, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1613, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3871, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0160, per_task/slide_block_to_color_target_quat_l1_err: 0.6240, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6240, per_task/slide_block_to_color_target_pos_acc_0.01: 0.2647, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3235, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3529, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3235, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3529, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0139, per_task/stack_blocks_quat_l1_err: 0.2687, per_task/stack_blocks_quat_l1_ideal_err: 0.2687, per_task/stack_blocks_pos_acc_0.01: 0.2370, per_task/stack_blocks_rot_acc_0.025: 0.5481, per_task/stack_blocks_rot_acc_0.05: 0.6815, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5481, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6815, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0183, per_task/stack_cups_quat_l1_err: 0.1269, per_task/stack_cups_quat_l1_ideal_err: 0.1269, per_task/stack_cups_pos_acc_0.01: 0.3659, per_task/stack_cups_rot_acc_0.025: 0.4390, per_task/stack_cups_rot_acc_0.05: 0.6220, per_task/stack_cups_rot_ideal_acc_0.025: 0.4390, per_task/stack_cups_rot_ideal_acc_0.05: 0.6220, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0281, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4744, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4744, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3830, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5745, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5745, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5745, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5745, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0145, per_task/put_money_in_safe_quat_l1_err: 0.1971, per_task/put_money_in_safe_quat_l1_ideal_err: 0.1971, per_task/put_money_in_safe_pos_acc_0.01: 0.3077, per_task/put_money_in_safe_rot_acc_0.025: 0.1282, per_task/put_money_in_safe_rot_acc_0.05: 0.5385, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.1282, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5385, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0170, per_task/turn_tap_quat_l1_err: 1.7229, per_task/turn_tap_quat_l1_ideal_err: 1.7229, per_task/turn_tap_pos_acc_0.01: 0.4545, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 01:15:09 - INFO - __main__ - =============================================== +04/29/2025 01:22:05 - INFO - __main__ - ==============Epoch 247 Step 29500=============== +04/29/2025 01:22:05 - INFO - __main__ - loss_pos:0.1162, loss_rot:0.3007, loss_open:0.0061, loss_total:2.6309 +04/29/2025 01:22:05 - INFO - __main__ - =============================================== +04/29/2025 01:28:58 - INFO - __main__ - ==============Epoch 252 Step 30000=============== +04/29/2025 01:28:58 - INFO - __main__ - loss_pos:0.1159, loss_rot:0.3023, loss_open:0.0076, loss_total:2.6280 +04/29/2025 01:28:58 - INFO - __main__ - =============================================== +04/29/2025 01:29:28 - INFO - __main__ - =================Validation================= +04/29/2025 01:29:28 - INFO - __main__ - total/pos_l2_err: 0.0159, total/quat_l1_err: 0.4209, total/quat_l1_ideal_err: 0.4209, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.4370, total/rot_acc_0.025: 0.4220, total/rot_acc_0.05: 0.5820, total/rot_ideal_acc_0.025: 0.4220, total/rot_ideal_acc_0.05: 0.5810, per_task/close_jar_pos_l2_err: 0.0107, per_task/close_jar_quat_l1_err: 0.2392, per_task/close_jar_quat_l1_ideal_err: 0.2392, per_task/close_jar_pos_acc_0.01: 0.5000, per_task/close_jar_rot_acc_0.025: 0.5862, per_task/close_jar_rot_acc_0.05: 0.6897, per_task/close_jar_rot_ideal_acc_0.025: 0.5862, per_task/close_jar_rot_ideal_acc_0.05: 0.6897, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0121, per_task/insert_onto_square_peg_quat_l1_err: 0.6198, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.6198, per_task/insert_onto_square_peg_pos_acc_0.01: 0.4324, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4595, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4865, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4595, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4865, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0119, per_task/light_bulb_in_quat_l1_err: 0.4927, per_task/light_bulb_in_quat_l1_ideal_err: 0.4927, per_task/light_bulb_in_pos_acc_0.01: 0.5085, per_task/light_bulb_in_rot_acc_0.025: 0.4576, per_task/light_bulb_in_rot_acc_0.05: 0.5763, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4576, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5763, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0111, per_task/meat_off_grill_quat_l1_err: 0.2461, per_task/meat_off_grill_quat_l1_ideal_err: 0.2461, per_task/meat_off_grill_pos_acc_0.01: 0.5357, per_task/meat_off_grill_rot_acc_0.025: 0.5357, per_task/meat_off_grill_rot_acc_0.05: 0.7143, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5357, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7143, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0079, per_task/open_drawer_quat_l1_err: 1.1687, per_task/open_drawer_quat_l1_ideal_err: 1.1687, per_task/open_drawer_pos_acc_0.01: 0.6364, per_task/open_drawer_rot_acc_0.025: 0.2273, per_task/open_drawer_rot_acc_0.05: 0.5000, per_task/open_drawer_rot_ideal_acc_0.025: 0.2273, per_task/open_drawer_rot_ideal_acc_0.05: 0.5000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0204, per_task/place_cups_quat_l1_err: 0.5450, per_task/place_cups_quat_l1_ideal_err: 0.5450, per_task/place_cups_pos_acc_0.01: 0.3909, per_task/place_cups_rot_acc_0.025: 0.1909, per_task/place_cups_rot_acc_0.05: 0.5636, per_task/place_cups_rot_ideal_acc_0.025: 0.1909, per_task/place_cups_rot_ideal_acc_0.05: 0.5636, per_task/place_cups_open_acc: 0.9818, per_task/place_cups_open_acc_ideal: 0.9818, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0236, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3940, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3940, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2632, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4737, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6053, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4737, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6053, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0187, per_task/place_wine_at_rack_location_quat_l1_err: 0.8632, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8632, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3571, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1905, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3571, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1905, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3571, per_task/place_wine_at_rack_location_open_acc: 0.9762, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9762, per_task/push_buttons_pos_l2_err: 0.0128, per_task/push_buttons_quat_l1_err: 0.0323, per_task/push_buttons_quat_l1_ideal_err: 0.0323, per_task/push_buttons_pos_acc_0.01: 0.3721, per_task/push_buttons_rot_acc_0.025: 0.7674, per_task/push_buttons_rot_acc_0.05: 0.7674, per_task/push_buttons_rot_ideal_acc_0.025: 0.7674, per_task/push_buttons_rot_ideal_acc_0.05: 0.7674, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0236, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5153, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5153, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1163, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4186, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6047, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4186, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6047, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0088, per_task/put_item_in_drawer_quat_l1_err: 0.4382, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4382, per_task/put_item_in_drawer_pos_acc_0.01: 0.6170, per_task/put_item_in_drawer_rot_acc_0.025: 0.4681, per_task/put_item_in_drawer_rot_acc_0.05: 0.7021, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4681, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7021, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0159, per_task/put_money_in_safe_quat_l1_err: 0.3863, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3863, per_task/put_money_in_safe_pos_acc_0.01: 0.2188, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.2500, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.2500, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0086, per_task/reach_and_drag_quat_l1_err: 0.3250, per_task/reach_and_drag_quat_l1_ideal_err: 0.3250, per_task/reach_and_drag_pos_acc_0.01: 0.6852, per_task/reach_and_drag_rot_acc_0.025: 0.2963, per_task/reach_and_drag_rot_acc_0.05: 0.4259, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2963, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4259, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0124, per_task/slide_block_to_color_target_quat_l1_err: 0.4147, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4147, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3548, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4516, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5806, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4516, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5806, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0149, per_task/stack_blocks_quat_l1_err: 0.3598, per_task/stack_blocks_quat_l1_ideal_err: 0.3598, per_task/stack_blocks_pos_acc_0.01: 0.3580, per_task/stack_blocks_rot_acc_0.025: 0.5432, per_task/stack_blocks_rot_acc_0.05: 0.6173, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5432, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6173, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0151, per_task/stack_cups_quat_l1_err: 0.0885, per_task/stack_cups_quat_l1_ideal_err: 0.0891, per_task/stack_cups_pos_acc_0.01: 0.5761, per_task/stack_cups_rot_acc_0.025: 0.4022, per_task/stack_cups_rot_acc_0.05: 0.6304, per_task/stack_cups_rot_ideal_acc_0.025: 0.4022, per_task/stack_cups_rot_ideal_acc_0.05: 0.6196, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0463, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3910, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3910, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3488, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6279, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6279, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6279, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6279, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0146, per_task/turn_tap_quat_l1_err: 1.7076, per_task/turn_tap_quat_l1_ideal_err: 1.7076, per_task/turn_tap_pos_acc_0.01: 0.4167, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 01:29:28 - INFO - __main__ - =============================================== +04/29/2025 01:36:26 - INFO - __main__ - ==============Epoch 256 Step 30500=============== +04/29/2025 01:36:26 - INFO - __main__ - loss_pos:0.1151, loss_rot:0.2944, loss_open:0.0074, loss_total:2.6029 +04/29/2025 01:36:26 - INFO - __main__ - =============================================== +04/29/2025 01:43:19 - INFO - __main__ - ==============Epoch 260 Step 31000=============== +04/29/2025 01:43:19 - INFO - __main__ - loss_pos:0.1147, loss_rot:0.2888, loss_open:0.0095, loss_total:2.5913 +04/29/2025 01:43:19 - INFO - __main__ - =============================================== +04/29/2025 01:43:49 - INFO - __main__ - =================Validation================= +04/29/2025 01:43:50 - INFO - __main__ - total/pos_l2_err: 0.0160, total/quat_l1_err: 0.4211, total/quat_l1_ideal_err: 0.4230, total/open_acc: 0.9940, total/open_acc_ideal: 0.9940, total/pos_acc_0.01: 0.4580, total/rot_acc_0.025: 0.4060, total/rot_acc_0.05: 0.5870, total/rot_ideal_acc_0.025: 0.4060, total/rot_ideal_acc_0.05: 0.5870, per_task/close_jar_pos_l2_err: 0.0106, per_task/close_jar_quat_l1_err: 0.2218, per_task/close_jar_quat_l1_ideal_err: 0.2218, per_task/close_jar_pos_acc_0.01: 0.5333, per_task/close_jar_rot_acc_0.025: 0.6000, per_task/close_jar_rot_acc_0.05: 0.7000, per_task/close_jar_rot_ideal_acc_0.025: 0.6000, per_task/close_jar_rot_ideal_acc_0.05: 0.7000, per_task/close_jar_open_acc: 0.9833, per_task/close_jar_open_acc_ideal: 0.9833, per_task/insert_onto_square_peg_pos_l2_err: 0.0100, per_task/insert_onto_square_peg_quat_l1_err: 0.2694, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2694, per_task/insert_onto_square_peg_pos_acc_0.01: 0.6000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5333, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7111, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5333, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7111, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0121, per_task/light_bulb_in_quat_l1_err: 0.5016, per_task/light_bulb_in_quat_l1_ideal_err: 0.5016, per_task/light_bulb_in_pos_acc_0.01: 0.5000, per_task/light_bulb_in_rot_acc_0.025: 0.5645, per_task/light_bulb_in_rot_acc_0.05: 0.5806, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5645, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5806, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0099, per_task/meat_off_grill_quat_l1_err: 0.3319, per_task/meat_off_grill_quat_l1_ideal_err: 0.3319, per_task/meat_off_grill_pos_acc_0.01: 0.5333, per_task/meat_off_grill_rot_acc_0.025: 0.6222, per_task/meat_off_grill_rot_acc_0.05: 0.6889, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6222, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6889, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0082, per_task/open_drawer_quat_l1_err: 0.8639, per_task/open_drawer_quat_l1_ideal_err: 0.8639, per_task/open_drawer_pos_acc_0.01: 0.7778, per_task/open_drawer_rot_acc_0.025: 0.4074, per_task/open_drawer_rot_acc_0.05: 0.5556, per_task/open_drawer_rot_ideal_acc_0.025: 0.4074, per_task/open_drawer_rot_ideal_acc_0.05: 0.5556, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0205, per_task/place_cups_quat_l1_err: 0.4365, per_task/place_cups_quat_l1_ideal_err: 0.4374, per_task/place_cups_pos_acc_0.01: 0.3643, per_task/place_cups_rot_acc_0.025: 0.1318, per_task/place_cups_rot_acc_0.05: 0.5659, per_task/place_cups_rot_ideal_acc_0.025: 0.1318, per_task/place_cups_rot_ideal_acc_0.05: 0.5659, per_task/place_cups_open_acc: 0.9767, per_task/place_cups_open_acc_ideal: 0.9767, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0138, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5340, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5340, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2571, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3429, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5429, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3429, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5429, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0127, per_task/place_wine_at_rack_location_quat_l1_err: 1.0712, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0712, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.4474, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.0526, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.1316, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.0526, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.1316, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0106, per_task/push_buttons_quat_l1_err: 0.0307, per_task/push_buttons_quat_l1_ideal_err: 0.0307, per_task/push_buttons_pos_acc_0.01: 0.4815, per_task/push_buttons_rot_acc_0.025: 0.7407, per_task/push_buttons_rot_acc_0.05: 0.7778, per_task/push_buttons_rot_ideal_acc_0.025: 0.7407, per_task/push_buttons_rot_ideal_acc_0.05: 0.7778, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0257, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6241, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6241, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0750, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5500, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0117, per_task/put_item_in_drawer_quat_l1_err: 0.3073, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3073, per_task/put_item_in_drawer_pos_acc_0.01: 0.4024, per_task/put_item_in_drawer_rot_acc_0.025: 0.5488, per_task/put_item_in_drawer_rot_acc_0.05: 0.7439, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5488, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7439, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0151, per_task/put_money_in_safe_quat_l1_err: 0.3834, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3834, per_task/put_money_in_safe_pos_acc_0.01: 0.2708, per_task/put_money_in_safe_rot_acc_0.025: 0.0208, per_task/put_money_in_safe_rot_acc_0.05: 0.4792, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0208, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4792, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0083, per_task/reach_and_drag_quat_l1_err: 0.3892, per_task/reach_and_drag_quat_l1_ideal_err: 0.3892, per_task/reach_and_drag_pos_acc_0.01: 0.7818, per_task/reach_and_drag_rot_acc_0.025: 0.2364, per_task/reach_and_drag_rot_acc_0.05: 0.4000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2364, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0144, per_task/slide_block_to_color_target_quat_l1_err: 0.6694, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6694, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3810, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3810, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4286, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3810, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4286, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0121, per_task/stack_blocks_quat_l1_err: 0.3324, per_task/stack_blocks_quat_l1_ideal_err: 0.3324, per_task/stack_blocks_pos_acc_0.01: 0.4558, per_task/stack_blocks_rot_acc_0.025: 0.5170, per_task/stack_blocks_rot_acc_0.05: 0.6531, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5170, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6531, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0336, per_task/stack_cups_quat_l1_err: 0.2574, per_task/stack_cups_quat_l1_ideal_err: 0.2787, per_task/stack_cups_pos_acc_0.01: 0.4458, per_task/stack_cups_rot_acc_0.025: 0.3735, per_task/stack_cups_rot_acc_0.05: 0.5904, per_task/stack_cups_rot_ideal_acc_0.025: 0.3735, per_task/stack_cups_rot_ideal_acc_0.05: 0.5904, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0326, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2885, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2885, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7045, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7045, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7045, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7045, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7045, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0137, per_task/turn_tap_quat_l1_err: 1.9037, per_task/turn_tap_quat_l1_ideal_err: 1.9037, per_task/turn_tap_pos_acc_0.01: 0.1667, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.8333, per_task/turn_tap_open_acc_ideal: 0.8333 +04/29/2025 01:43:50 - INFO - __main__ - =============================================== +04/29/2025 01:50:44 - INFO - __main__ - ==============Epoch 264 Step 31500=============== +04/29/2025 01:50:44 - INFO - __main__ - loss_pos:0.1143, loss_rot:0.2895, loss_open:0.0083, loss_total:2.5828 +04/29/2025 01:50:44 - INFO - __main__ - =============================================== +04/29/2025 01:57:37 - INFO - __main__ - ==============Epoch 268 Step 32000=============== +04/29/2025 01:57:38 - INFO - __main__ - loss_pos:0.1149, loss_rot:0.2870, loss_open:0.0060, loss_total:2.5911 +04/29/2025 01:57:38 - INFO - __main__ - =============================================== +04/29/2025 01:58:08 - INFO - __main__ - =================Validation================= +04/29/2025 01:58:08 - INFO - __main__ - total/pos_l2_err: 0.0140, total/quat_l1_err: 0.4247, total/quat_l1_ideal_err: 0.4247, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.4640, total/rot_acc_0.025: 0.4100, total/rot_acc_0.05: 0.5690, total/rot_ideal_acc_0.025: 0.4100, total/rot_ideal_acc_0.05: 0.5690, per_task/close_jar_pos_l2_err: 0.0106, per_task/close_jar_quat_l1_err: 0.2496, per_task/close_jar_quat_l1_ideal_err: 0.2496, per_task/close_jar_pos_acc_0.01: 0.6000, per_task/close_jar_rot_acc_0.025: 0.4667, per_task/close_jar_rot_acc_0.05: 0.6222, per_task/close_jar_rot_ideal_acc_0.025: 0.4667, per_task/close_jar_rot_ideal_acc_0.05: 0.6222, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0096, per_task/insert_onto_square_peg_quat_l1_err: 0.4988, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4988, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5455, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4545, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5227, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4545, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5227, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0117, per_task/light_bulb_in_quat_l1_err: 0.5644, per_task/light_bulb_in_quat_l1_ideal_err: 0.5644, per_task/light_bulb_in_pos_acc_0.01: 0.4310, per_task/light_bulb_in_rot_acc_0.025: 0.5172, per_task/light_bulb_in_rot_acc_0.05: 0.5517, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5172, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5517, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0097, per_task/meat_off_grill_quat_l1_err: 0.0929, per_task/meat_off_grill_quat_l1_ideal_err: 0.0929, per_task/meat_off_grill_pos_acc_0.01: 0.5758, per_task/meat_off_grill_rot_acc_0.025: 0.7879, per_task/meat_off_grill_rot_acc_0.05: 0.8485, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7879, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8485, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0083, per_task/open_drawer_quat_l1_err: 1.1193, per_task/open_drawer_quat_l1_ideal_err: 1.1193, per_task/open_drawer_pos_acc_0.01: 0.7778, per_task/open_drawer_rot_acc_0.025: 0.2963, per_task/open_drawer_rot_acc_0.05: 0.4815, per_task/open_drawer_rot_ideal_acc_0.025: 0.2963, per_task/open_drawer_rot_ideal_acc_0.05: 0.4815, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0201, per_task/place_cups_quat_l1_err: 0.4416, per_task/place_cups_quat_l1_ideal_err: 0.4416, per_task/place_cups_pos_acc_0.01: 0.3465, per_task/place_cups_rot_acc_0.025: 0.2992, per_task/place_cups_rot_acc_0.05: 0.5984, per_task/place_cups_rot_ideal_acc_0.025: 0.2992, per_task/place_cups_rot_ideal_acc_0.05: 0.5984, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0145, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3195, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3195, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.3659, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4878, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6341, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4878, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6341, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0170, per_task/place_wine_at_rack_location_quat_l1_err: 0.7825, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7825, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3469, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2857, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3673, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2857, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3673, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0113, per_task/push_buttons_quat_l1_err: 0.0286, per_task/push_buttons_quat_l1_ideal_err: 0.0286, per_task/push_buttons_pos_acc_0.01: 0.4783, per_task/push_buttons_rot_acc_0.025: 0.7826, per_task/push_buttons_rot_acc_0.05: 0.7826, per_task/push_buttons_rot_ideal_acc_0.025: 0.7826, per_task/push_buttons_rot_ideal_acc_0.05: 0.7826, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0194, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6057, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6057, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2041, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2449, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.3673, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2449, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.3673, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0093, per_task/put_item_in_drawer_quat_l1_err: 0.4328, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4328, per_task/put_item_in_drawer_pos_acc_0.01: 0.6339, per_task/put_item_in_drawer_rot_acc_0.025: 0.4643, per_task/put_item_in_drawer_rot_acc_0.05: 0.6607, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4643, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6607, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0116, per_task/put_money_in_safe_quat_l1_err: 0.1733, per_task/put_money_in_safe_quat_l1_ideal_err: 0.1733, per_task/put_money_in_safe_pos_acc_0.01: 0.4054, per_task/put_money_in_safe_rot_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_acc_0.05: 0.6216, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.6216, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0090, per_task/reach_and_drag_quat_l1_err: 0.2177, per_task/reach_and_drag_quat_l1_ideal_err: 0.2177, per_task/reach_and_drag_pos_acc_0.01: 0.5614, per_task/reach_and_drag_rot_acc_0.025: 0.3860, per_task/reach_and_drag_rot_acc_0.05: 0.5439, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3860, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5439, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0117, per_task/slide_block_to_color_target_quat_l1_err: 0.6673, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6673, per_task/slide_block_to_color_target_pos_acc_0.01: 0.4483, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2069, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4483, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2069, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4483, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0121, per_task/stack_blocks_quat_l1_err: 0.3845, per_task/stack_blocks_quat_l1_ideal_err: 0.3845, per_task/stack_blocks_pos_acc_0.01: 0.4261, per_task/stack_blocks_rot_acc_0.025: 0.4696, per_task/stack_blocks_rot_acc_0.05: 0.5826, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4696, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5826, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0152, per_task/stack_cups_quat_l1_err: 0.1387, per_task/stack_cups_quat_l1_ideal_err: 0.1387, per_task/stack_cups_pos_acc_0.01: 0.4235, per_task/stack_cups_rot_acc_0.025: 0.4353, per_task/stack_cups_rot_acc_0.05: 0.5882, per_task/stack_cups_rot_ideal_acc_0.025: 0.4353, per_task/stack_cups_rot_ideal_acc_0.05: 0.5882, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0233, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4642, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4642, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4074, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.4815, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.4815, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.4815, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.4815, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0434, per_task/turn_tap_quat_l1_err: 1.6725, per_task/turn_tap_quat_l1_ideal_err: 1.6725, per_task/turn_tap_pos_acc_0.01: 0.6842, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 01:58:08 - INFO - __main__ - =============================================== +04/29/2025 02:05:02 - INFO - __main__ - ==============Epoch 273 Step 32500=============== +04/29/2025 02:05:02 - INFO - __main__ - loss_pos:0.1142, loss_rot:0.2862, loss_open:0.0070, loss_total:2.5768 +04/29/2025 02:05:02 - INFO - __main__ - =============================================== +04/29/2025 02:11:54 - INFO - __main__ - ==============Epoch 277 Step 33000=============== +04/29/2025 02:11:54 - INFO - __main__ - loss_pos:0.1138, loss_rot:0.2862, loss_open:0.0084, loss_total:2.5710 +04/29/2025 02:11:54 - INFO - __main__ - =============================================== +04/29/2025 02:12:25 - INFO - __main__ - =================Validation================= +04/29/2025 02:12:25 - INFO - __main__ - total/pos_l2_err: 0.0125, total/quat_l1_err: 0.3849, total/quat_l1_ideal_err: 0.3849, total/open_acc: 0.9950, total/open_acc_ideal: 0.9950, total/pos_acc_0.01: 0.6180, total/rot_acc_0.025: 0.4260, total/rot_acc_0.05: 0.6010, total/rot_ideal_acc_0.025: 0.4260, total/rot_ideal_acc_0.05: 0.6010, per_task/close_jar_pos_l2_err: 0.0089, per_task/close_jar_quat_l1_err: 0.1977, per_task/close_jar_quat_l1_ideal_err: 0.1977, per_task/close_jar_pos_acc_0.01: 0.7308, per_task/close_jar_rot_acc_0.025: 0.5385, per_task/close_jar_rot_acc_0.05: 0.6731, per_task/close_jar_rot_ideal_acc_0.025: 0.5385, per_task/close_jar_rot_ideal_acc_0.05: 0.6731, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0086, per_task/insert_onto_square_peg_quat_l1_err: 0.5400, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5400, per_task/insert_onto_square_peg_pos_acc_0.01: 0.7273, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4318, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4773, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4318, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4773, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0084, per_task/light_bulb_in_quat_l1_err: 0.4132, per_task/light_bulb_in_quat_l1_ideal_err: 0.4132, per_task/light_bulb_in_pos_acc_0.01: 0.7692, per_task/light_bulb_in_rot_acc_0.025: 0.4808, per_task/light_bulb_in_rot_acc_0.05: 0.5769, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4808, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5769, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0073, per_task/meat_off_grill_quat_l1_err: 0.3847, per_task/meat_off_grill_quat_l1_ideal_err: 0.3847, per_task/meat_off_grill_pos_acc_0.01: 0.7778, per_task/meat_off_grill_rot_acc_0.025: 0.6667, per_task/meat_off_grill_rot_acc_0.05: 0.7037, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6667, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7037, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0083, per_task/open_drawer_quat_l1_err: 0.8887, per_task/open_drawer_quat_l1_ideal_err: 0.8887, per_task/open_drawer_pos_acc_0.01: 0.7241, per_task/open_drawer_rot_acc_0.025: 0.4138, per_task/open_drawer_rot_acc_0.05: 0.5517, per_task/open_drawer_rot_ideal_acc_0.025: 0.4138, per_task/open_drawer_rot_ideal_acc_0.05: 0.5517, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0176, per_task/place_cups_quat_l1_err: 0.4247, per_task/place_cups_quat_l1_ideal_err: 0.4247, per_task/place_cups_pos_acc_0.01: 0.5565, per_task/place_cups_rot_acc_0.025: 0.1935, per_task/place_cups_rot_acc_0.05: 0.5806, per_task/place_cups_rot_ideal_acc_0.025: 0.1935, per_task/place_cups_rot_ideal_acc_0.05: 0.5806, per_task/place_cups_open_acc: 0.9839, per_task/place_cups_open_acc_ideal: 0.9839, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0115, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.2952, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.2952, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.4737, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5000, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6316, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6316, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0105, per_task/place_wine_at_rack_location_quat_l1_err: 0.6735, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6735, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5581, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2791, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4651, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2791, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4651, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0093, per_task/push_buttons_quat_l1_err: 0.0336, per_task/push_buttons_quat_l1_ideal_err: 0.0336, per_task/push_buttons_pos_acc_0.01: 0.6129, per_task/push_buttons_rot_acc_0.025: 0.7419, per_task/push_buttons_rot_acc_0.05: 0.7419, per_task/push_buttons_rot_ideal_acc_0.025: 0.7419, per_task/push_buttons_rot_ideal_acc_0.05: 0.7419, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0195, per_task/put_groceries_in_cupboard_quat_l1_err: 0.3181, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.3181, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2174, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.5435, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.7609, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.5435, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.7609, per_task/put_groceries_in_cupboard_open_acc: 0.9783, per_task/put_groceries_in_cupboard_open_acc_ideal: 0.9783, per_task/put_item_in_drawer_pos_l2_err: 0.0078, per_task/put_item_in_drawer_quat_l1_err: 0.2937, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2937, per_task/put_item_in_drawer_pos_acc_0.01: 0.7778, per_task/put_item_in_drawer_rot_acc_0.025: 0.6049, per_task/put_item_in_drawer_rot_acc_0.05: 0.7901, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6049, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7901, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0117, per_task/put_money_in_safe_quat_l1_err: 0.2614, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2614, per_task/put_money_in_safe_pos_acc_0.01: 0.5636, per_task/put_money_in_safe_rot_acc_0.025: 0.0182, per_task/put_money_in_safe_rot_acc_0.05: 0.5273, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0182, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5273, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0082, per_task/reach_and_drag_quat_l1_err: 0.2822, per_task/reach_and_drag_quat_l1_ideal_err: 0.2822, per_task/reach_and_drag_pos_acc_0.01: 0.7111, per_task/reach_and_drag_rot_acc_0.025: 0.2667, per_task/reach_and_drag_rot_acc_0.05: 0.4667, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2667, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4667, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0119, per_task/slide_block_to_color_target_quat_l1_err: 0.6454, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6454, per_task/slide_block_to_color_target_pos_acc_0.01: 0.4800, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3200, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5200, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3200, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5200, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0142, per_task/stack_blocks_quat_l1_err: 0.3894, per_task/stack_blocks_quat_l1_ideal_err: 0.3894, per_task/stack_blocks_pos_acc_0.01: 0.5625, per_task/stack_blocks_rot_acc_0.025: 0.4931, per_task/stack_blocks_rot_acc_0.05: 0.6042, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4931, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6042, per_task/stack_blocks_open_acc: 0.9931, per_task/stack_blocks_open_acc_ideal: 0.9931, per_task/stack_cups_pos_l2_err: 0.0129, per_task/stack_cups_quat_l1_err: 0.1272, per_task/stack_cups_quat_l1_ideal_err: 0.1272, per_task/stack_cups_pos_acc_0.01: 0.6386, per_task/stack_cups_rot_acc_0.025: 0.4337, per_task/stack_cups_rot_acc_0.05: 0.5663, per_task/stack_cups_rot_ideal_acc_0.025: 0.4337, per_task/stack_cups_rot_ideal_acc_0.05: 0.5663, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0278, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3582, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3582, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.6154, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0095, per_task/turn_tap_quat_l1_err: 1.7788, per_task/turn_tap_quat_l1_ideal_err: 1.7788, per_task/turn_tap_pos_acc_0.01: 0.6000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9333, per_task/turn_tap_open_acc_ideal: 0.9333 +04/29/2025 02:12:25 - INFO - __main__ - =============================================== +04/29/2025 02:19:17 - INFO - __main__ - ==============Epoch 281 Step 33500=============== +04/29/2025 02:19:17 - INFO - __main__ - loss_pos:0.1137, loss_rot:0.2810, loss_open:0.0056, loss_total:2.5607 +04/29/2025 02:19:17 - INFO - __main__ - =============================================== +04/29/2025 02:26:12 - INFO - __main__ - ==============Epoch 285 Step 34000=============== +04/29/2025 02:26:12 - INFO - __main__ - loss_pos:0.1132, loss_rot:0.2878, loss_open:0.0057, loss_total:2.5564 +04/29/2025 02:26:12 - INFO - __main__ - =============================================== +04/29/2025 02:26:43 - INFO - __main__ - =================Validation================= +04/29/2025 02:26:43 - INFO - __main__ - total/pos_l2_err: 0.0126, total/quat_l1_err: 0.3917, total/quat_l1_ideal_err: 0.3917, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.5970, total/rot_acc_0.025: 0.4170, total/rot_acc_0.05: 0.5870, total/rot_ideal_acc_0.025: 0.4170, total/rot_ideal_acc_0.05: 0.5870, per_task/close_jar_pos_l2_err: 0.0080, per_task/close_jar_quat_l1_err: 0.2372, per_task/close_jar_quat_l1_ideal_err: 0.2372, per_task/close_jar_pos_acc_0.01: 0.7556, per_task/close_jar_rot_acc_0.025: 0.5111, per_task/close_jar_rot_acc_0.05: 0.6667, per_task/close_jar_rot_ideal_acc_0.025: 0.5111, per_task/close_jar_rot_ideal_acc_0.05: 0.6667, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0093, per_task/insert_onto_square_peg_quat_l1_err: 0.4454, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4454, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5952, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4762, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5952, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4762, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5952, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0121, per_task/light_bulb_in_quat_l1_err: 0.3113, per_task/light_bulb_in_quat_l1_ideal_err: 0.3113, per_task/light_bulb_in_pos_acc_0.01: 0.6667, per_task/light_bulb_in_rot_acc_0.025: 0.6889, per_task/light_bulb_in_rot_acc_0.05: 0.7778, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6889, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.7778, per_task/light_bulb_in_open_acc: 0.9778, per_task/light_bulb_in_open_acc_ideal: 0.9778, per_task/meat_off_grill_pos_l2_err: 0.0084, per_task/meat_off_grill_quat_l1_err: 0.2340, per_task/meat_off_grill_quat_l1_ideal_err: 0.2340, per_task/meat_off_grill_pos_acc_0.01: 0.6562, per_task/meat_off_grill_rot_acc_0.025: 0.6250, per_task/meat_off_grill_rot_acc_0.05: 0.7500, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6250, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7500, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0093, per_task/open_drawer_quat_l1_err: 0.5082, per_task/open_drawer_quat_l1_ideal_err: 0.5082, per_task/open_drawer_pos_acc_0.01: 0.6364, per_task/open_drawer_rot_acc_0.025: 0.4848, per_task/open_drawer_rot_acc_0.05: 0.7273, per_task/open_drawer_rot_ideal_acc_0.025: 0.4848, per_task/open_drawer_rot_ideal_acc_0.05: 0.7273, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0159, per_task/place_cups_quat_l1_err: 0.3987, per_task/place_cups_quat_l1_ideal_err: 0.3987, per_task/place_cups_pos_acc_0.01: 0.5714, per_task/place_cups_rot_acc_0.025: 0.2063, per_task/place_cups_rot_acc_0.05: 0.5794, per_task/place_cups_rot_ideal_acc_0.025: 0.2063, per_task/place_cups_rot_ideal_acc_0.05: 0.5794, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0134, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4671, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4671, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.3684, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3684, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4474, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3684, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4474, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0125, per_task/place_wine_at_rack_location_quat_l1_err: 0.9717, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9717, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.4722, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1389, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1389, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2500, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0077, per_task/push_buttons_quat_l1_err: 0.0093, per_task/push_buttons_quat_l1_ideal_err: 0.0093, per_task/push_buttons_pos_acc_0.01: 0.7667, per_task/push_buttons_rot_acc_0.025: 0.9333, per_task/push_buttons_rot_acc_0.05: 0.9333, per_task/push_buttons_rot_ideal_acc_0.025: 0.9333, per_task/push_buttons_rot_ideal_acc_0.05: 0.9333, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0227, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7194, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7194, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0980, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2157, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4118, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2157, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4118, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0075, per_task/put_item_in_drawer_quat_l1_err: 0.4050, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4050, per_task/put_item_in_drawer_pos_acc_0.01: 0.7593, per_task/put_item_in_drawer_rot_acc_0.025: 0.6111, per_task/put_item_in_drawer_rot_acc_0.05: 0.7222, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6111, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7222, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0166, per_task/put_money_in_safe_quat_l1_err: 0.3892, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3892, per_task/put_money_in_safe_pos_acc_0.01: 0.3810, per_task/put_money_in_safe_rot_acc_0.025: 0.0714, per_task/put_money_in_safe_rot_acc_0.05: 0.3333, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0714, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3333, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0071, per_task/reach_and_drag_quat_l1_err: 0.2876, per_task/reach_and_drag_quat_l1_ideal_err: 0.2876, per_task/reach_and_drag_pos_acc_0.01: 0.7857, per_task/reach_and_drag_rot_acc_0.025: 0.1964, per_task/reach_and_drag_rot_acc_0.05: 0.4464, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1964, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4464, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0104, per_task/stack_blocks_quat_l1_err: 0.3015, per_task/stack_blocks_quat_l1_ideal_err: 0.3015, per_task/stack_blocks_pos_acc_0.01: 0.5891, per_task/stack_blocks_rot_acc_0.025: 0.5116, per_task/stack_blocks_rot_acc_0.05: 0.6512, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5116, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6512, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0165, per_task/stack_cups_quat_l1_err: 0.0951, per_task/stack_cups_quat_l1_ideal_err: 0.0951, per_task/stack_cups_pos_acc_0.01: 0.6186, per_task/stack_cups_rot_acc_0.025: 0.4227, per_task/stack_cups_rot_acc_0.05: 0.5979, per_task/stack_cups_rot_ideal_acc_0.025: 0.4227, per_task/stack_cups_rot_ideal_acc_0.05: 0.5979, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0264, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3542, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3542, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.6500, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5750, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5750, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5750, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5750, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0098, per_task/turn_tap_quat_l1_err: 1.7837, per_task/turn_tap_quat_l1_ideal_err: 1.7837, per_task/turn_tap_pos_acc_0.01: 0.5556, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0092, per_task/slide_block_to_color_target_quat_l1_err: 0.4222, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4222, per_task/slide_block_to_color_target_pos_acc_0.01: 0.6562, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4062, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5938, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4062, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5938, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000 +04/29/2025 02:26:43 - INFO - __main__ - =============================================== +04/29/2025 02:33:40 - INFO - __main__ - ==============Epoch 289 Step 34500=============== +04/29/2025 02:33:40 - INFO - __main__ - loss_pos:0.1120, loss_rot:0.2764, loss_open:0.0076, loss_total:2.5250 +04/29/2025 02:33:40 - INFO - __main__ - =============================================== +04/29/2025 02:40:34 - INFO - __main__ - ==============Epoch 294 Step 35000=============== +04/29/2025 02:40:34 - INFO - __main__ - loss_pos:0.1127, loss_rot:0.2789, loss_open:0.0058, loss_total:2.5382 +04/29/2025 02:40:34 - INFO - __main__ - =============================================== +04/29/2025 02:41:05 - INFO - __main__ - =================Validation================= +04/29/2025 02:41:05 - INFO - __main__ - total/pos_l2_err: 0.0154, total/quat_l1_err: 0.4231, total/quat_l1_ideal_err: 0.4231, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.5280, total/rot_acc_0.025: 0.4050, total/rot_acc_0.05: 0.5760, total/rot_ideal_acc_0.025: 0.4050, total/rot_ideal_acc_0.05: 0.5760, per_task/close_jar_pos_l2_err: 0.0122, per_task/close_jar_quat_l1_err: 0.2012, per_task/close_jar_quat_l1_ideal_err: 0.2012, per_task/close_jar_pos_acc_0.01: 0.4286, per_task/close_jar_rot_acc_0.025: 0.4762, per_task/close_jar_rot_acc_0.05: 0.5476, per_task/close_jar_rot_ideal_acc_0.025: 0.4762, per_task/close_jar_rot_ideal_acc_0.05: 0.5476, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0094, per_task/insert_onto_square_peg_quat_l1_err: 0.5391, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5391, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5893, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4821, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5536, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4821, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5536, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0121, per_task/light_bulb_in_quat_l1_err: 0.5523, per_task/light_bulb_in_quat_l1_ideal_err: 0.5523, per_task/light_bulb_in_pos_acc_0.01: 0.4730, per_task/light_bulb_in_rot_acc_0.025: 0.4865, per_task/light_bulb_in_rot_acc_0.05: 0.5270, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4865, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5270, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0096, per_task/meat_off_grill_quat_l1_err: 0.3117, per_task/meat_off_grill_quat_l1_ideal_err: 0.3117, per_task/meat_off_grill_pos_acc_0.01: 0.6078, per_task/meat_off_grill_rot_acc_0.025: 0.5686, per_task/meat_off_grill_rot_acc_0.05: 0.7843, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5686, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7843, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0081, per_task/open_drawer_quat_l1_err: 0.8345, per_task/open_drawer_quat_l1_ideal_err: 0.8345, per_task/open_drawer_pos_acc_0.01: 0.7097, per_task/open_drawer_rot_acc_0.025: 0.3871, per_task/open_drawer_rot_acc_0.05: 0.6452, per_task/open_drawer_rot_ideal_acc_0.025: 0.3871, per_task/open_drawer_rot_ideal_acc_0.05: 0.6452, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0163, per_task/place_cups_quat_l1_err: 0.3922, per_task/place_cups_quat_l1_ideal_err: 0.3922, per_task/place_cups_pos_acc_0.01: 0.5545, per_task/place_cups_rot_acc_0.025: 0.1782, per_task/place_cups_rot_acc_0.05: 0.6040, per_task/place_cups_rot_ideal_acc_0.025: 0.1782, per_task/place_cups_rot_ideal_acc_0.05: 0.6040, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0146, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4696, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4696, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.3243, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4324, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4865, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4324, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4865, per_task/place_shape_in_shape_sorter_open_acc: 0.9730, per_task/place_shape_in_shape_sorter_open_acc_ideal: 0.9730, per_task/place_wine_at_rack_location_pos_l2_err: 0.0103, per_task/place_wine_at_rack_location_quat_l1_err: 0.6882, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6882, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5556, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1852, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2963, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1852, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2963, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0100, per_task/push_buttons_quat_l1_err: 0.0383, per_task/push_buttons_quat_l1_ideal_err: 0.0383, per_task/push_buttons_pos_acc_0.01: 0.5882, per_task/push_buttons_rot_acc_0.025: 0.7059, per_task/push_buttons_rot_acc_0.05: 0.7059, per_task/push_buttons_rot_ideal_acc_0.025: 0.7059, per_task/push_buttons_rot_ideal_acc_0.05: 0.7059, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0366, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5837, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5837, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0488, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2927, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5610, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2927, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5610, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0084, per_task/put_item_in_drawer_quat_l1_err: 0.4096, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4096, per_task/put_item_in_drawer_pos_acc_0.01: 0.6591, per_task/put_item_in_drawer_rot_acc_0.025: 0.4659, per_task/put_item_in_drawer_rot_acc_0.05: 0.6932, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4659, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6932, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0130, per_task/put_money_in_safe_quat_l1_err: 0.3740, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3740, per_task/put_money_in_safe_pos_acc_0.01: 0.4167, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.4167, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4167, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0074, per_task/reach_and_drag_quat_l1_err: 0.3145, per_task/reach_and_drag_quat_l1_ideal_err: 0.3145, per_task/reach_and_drag_pos_acc_0.01: 0.7838, per_task/reach_and_drag_rot_acc_0.025: 0.3108, per_task/reach_and_drag_rot_acc_0.05: 0.4865, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3108, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4865, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0126, per_task/slide_block_to_color_target_quat_l1_err: 0.4758, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4758, per_task/slide_block_to_color_target_pos_acc_0.01: 0.4091, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3182, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3636, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3182, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3636, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0143, per_task/stack_blocks_quat_l1_err: 0.3203, per_task/stack_blocks_quat_l1_ideal_err: 0.3203, per_task/stack_blocks_pos_acc_0.01: 0.5298, per_task/stack_blocks_rot_acc_0.025: 0.5033, per_task/stack_blocks_rot_acc_0.05: 0.6424, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5033, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6424, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0176, per_task/stack_cups_quat_l1_err: 0.3187, per_task/stack_cups_quat_l1_ideal_err: 0.3187, per_task/stack_cups_pos_acc_0.01: 0.5000, per_task/stack_cups_rot_acc_0.025: 0.4375, per_task/stack_cups_rot_acc_0.05: 0.6000, per_task/stack_cups_rot_ideal_acc_0.025: 0.4375, per_task/stack_cups_rot_ideal_acc_0.05: 0.6000, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0751, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2460, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2460, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3714, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6857, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6857, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6857, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6857, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0089, per_task/turn_tap_quat_l1_err: 1.7631, per_task/turn_tap_quat_l1_ideal_err: 1.7631, per_task/turn_tap_pos_acc_0.01: 0.5500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9500, per_task/turn_tap_open_acc_ideal: 0.9500 +04/29/2025 02:41:05 - INFO - __main__ - =============================================== +04/29/2025 02:48:04 - INFO - __main__ - ==============Epoch 298 Step 35500=============== +04/29/2025 02:48:04 - INFO - __main__ - loss_pos:0.1127, loss_rot:0.2752, loss_open:0.0061, loss_total:2.5346 +04/29/2025 02:48:04 - INFO - __main__ - =============================================== +04/29/2025 02:54:55 - INFO - __main__ - ==============Epoch 302 Step 36000=============== +04/29/2025 02:54:55 - INFO - __main__ - loss_pos:0.1118, loss_rot:0.2715, loss_open:0.0072, loss_total:2.5148 +04/29/2025 02:54:55 - INFO - __main__ - =============================================== +04/29/2025 02:55:27 - INFO - __main__ - =================Validation================= +04/29/2025 02:55:27 - INFO - __main__ - total/pos_l2_err: 0.0154, total/quat_l1_err: 0.3534, total/quat_l1_ideal_err: 0.3538, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.5299, total/rot_acc_0.025: 0.4292, total/rot_acc_0.05: 0.6191, total/rot_ideal_acc_0.025: 0.4292, total/rot_ideal_acc_0.05: 0.6191, per_task/close_jar_pos_l2_err: 0.0098, per_task/close_jar_quat_l1_err: 0.2004, per_task/close_jar_quat_l1_ideal_err: 0.2004, per_task/close_jar_pos_acc_0.01: 0.5690, per_task/close_jar_rot_acc_0.025: 0.6034, per_task/close_jar_rot_acc_0.05: 0.7069, per_task/close_jar_rot_ideal_acc_0.025: 0.6034, per_task/close_jar_rot_ideal_acc_0.05: 0.7069, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0095, per_task/insert_onto_square_peg_quat_l1_err: 0.4463, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4463, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5714, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4857, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4857, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0114, per_task/light_bulb_in_quat_l1_err: 0.3304, per_task/light_bulb_in_quat_l1_ideal_err: 0.3304, per_task/light_bulb_in_pos_acc_0.01: 0.5250, per_task/light_bulb_in_rot_acc_0.025: 0.6250, per_task/light_bulb_in_rot_acc_0.05: 0.6500, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6250, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6500, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0077, per_task/meat_off_grill_quat_l1_err: 0.3664, per_task/meat_off_grill_quat_l1_ideal_err: 0.3664, per_task/meat_off_grill_pos_acc_0.01: 0.8293, per_task/meat_off_grill_rot_acc_0.025: 0.6341, per_task/meat_off_grill_rot_acc_0.05: 0.7317, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6341, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7317, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0099, per_task/open_drawer_quat_l1_err: 0.3904, per_task/open_drawer_quat_l1_ideal_err: 0.3904, per_task/open_drawer_pos_acc_0.01: 0.4800, per_task/open_drawer_rot_acc_0.025: 0.5200, per_task/open_drawer_rot_acc_0.05: 0.8000, per_task/open_drawer_rot_ideal_acc_0.025: 0.5200, per_task/open_drawer_rot_ideal_acc_0.05: 0.8000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0233, per_task/place_cups_quat_l1_err: 0.3901, per_task/place_cups_quat_l1_ideal_err: 0.3937, per_task/place_cups_pos_acc_0.01: 0.4333, per_task/place_cups_rot_acc_0.025: 0.2083, per_task/place_cups_rot_acc_0.05: 0.5333, per_task/place_cups_rot_ideal_acc_0.025: 0.2083, per_task/place_cups_rot_ideal_acc_0.05: 0.5333, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0114, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4177, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4177, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.5294, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4412, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6176, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4412, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6176, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0194, per_task/place_wine_at_rack_location_quat_l1_err: 0.5275, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.5275, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.2500, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2500, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4773, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4773, per_task/place_wine_at_rack_location_open_acc: 0.9773, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9773, per_task/push_buttons_pos_l2_err: 0.0112, per_task/push_buttons_quat_l1_err: 0.0325, per_task/push_buttons_quat_l1_ideal_err: 0.0325, per_task/push_buttons_pos_acc_0.01: 0.4286, per_task/push_buttons_rot_acc_0.025: 0.7500, per_task/push_buttons_rot_acc_0.05: 0.7500, per_task/push_buttons_rot_ideal_acc_0.025: 0.7500, per_task/push_buttons_rot_ideal_acc_0.05: 0.7500, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0257, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6309, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6309, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0870, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2826, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4565, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2826, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4565, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0087, per_task/put_item_in_drawer_quat_l1_err: 0.3254, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3254, per_task/put_item_in_drawer_pos_acc_0.01: 0.7865, per_task/put_item_in_drawer_rot_acc_0.025: 0.5281, per_task/put_item_in_drawer_rot_acc_0.05: 0.7640, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5281, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7640, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0128, per_task/put_money_in_safe_quat_l1_err: 0.2291, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2291, per_task/put_money_in_safe_pos_acc_0.01: 0.3725, per_task/put_money_in_safe_rot_acc_0.025: 0.0392, per_task/put_money_in_safe_rot_acc_0.05: 0.5294, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0392, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5294, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0079, per_task/reach_and_drag_quat_l1_err: 0.2270, per_task/reach_and_drag_quat_l1_ideal_err: 0.2270, per_task/reach_and_drag_pos_acc_0.01: 0.8113, per_task/reach_and_drag_rot_acc_0.025: 0.3019, per_task/reach_and_drag_rot_acc_0.05: 0.6038, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3019, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.6038, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0097, per_task/slide_block_to_color_target_quat_l1_err: 0.5881, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5881, per_task/slide_block_to_color_target_pos_acc_0.01: 0.5926, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4444, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5185, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4444, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5185, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0111, per_task/stack_blocks_quat_l1_err: 0.3529, per_task/stack_blocks_quat_l1_ideal_err: 0.3529, per_task/stack_blocks_pos_acc_0.01: 0.5203, per_task/stack_blocks_rot_acc_0.025: 0.5122, per_task/stack_blocks_rot_acc_0.05: 0.6341, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5122, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6341, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0126, per_task/stack_cups_quat_l1_err: 0.1292, per_task/stack_cups_quat_l1_ideal_err: 0.1292, per_task/stack_cups_pos_acc_0.01: 0.5500, per_task/stack_cups_rot_acc_0.025: 0.4375, per_task/stack_cups_rot_acc_0.05: 0.6500, per_task/stack_cups_rot_ideal_acc_0.025: 0.4375, per_task/stack_cups_rot_ideal_acc_0.05: 0.6500, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0571, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2214, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2214, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.5333, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7333, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7333, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7333, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7333, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0101, per_task/turn_tap_quat_l1_err: 1.7948, per_task/turn_tap_quat_l1_ideal_err: 1.7948, per_task/turn_tap_pos_acc_0.01: 0.5714, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 02:55:27 - INFO - __main__ - =============================================== +04/29/2025 03:02:25 - INFO - __main__ - ==============Epoch 306 Step 36500=============== +04/29/2025 03:02:25 - INFO - __main__ - loss_pos:0.1116, loss_rot:0.2705, loss_open:0.0064, loss_total:2.5090 +04/29/2025 03:02:25 - INFO - __main__ - =============================================== +04/29/2025 03:09:21 - INFO - __main__ - ==============Epoch 310 Step 37000=============== +04/29/2025 03:09:21 - INFO - __main__ - loss_pos:0.1117, loss_rot:0.2675, loss_open:0.0070, loss_total:2.5084 +04/29/2025 03:09:21 - INFO - __main__ - =============================================== +04/29/2025 03:09:53 - INFO - __main__ - =================Validation================= +04/29/2025 03:09:53 - INFO - __main__ - total/pos_l2_err: 0.0126, total/quat_l1_err: 0.4235, total/quat_l1_ideal_err: 0.4235, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.5200, total/rot_acc_0.025: 0.4110, total/rot_acc_0.05: 0.5840, total/rot_ideal_acc_0.025: 0.4110, total/rot_ideal_acc_0.05: 0.5840, per_task/close_jar_pos_l2_err: 0.0104, per_task/close_jar_quat_l1_err: 0.1590, per_task/close_jar_quat_l1_ideal_err: 0.1590, per_task/close_jar_pos_acc_0.01: 0.4815, per_task/close_jar_rot_acc_0.025: 0.6296, per_task/close_jar_rot_acc_0.05: 0.7778, per_task/close_jar_rot_ideal_acc_0.025: 0.6296, per_task/close_jar_rot_ideal_acc_0.05: 0.7778, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0107, per_task/insert_onto_square_peg_quat_l1_err: 0.4631, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4631, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5349, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3953, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6279, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3953, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6279, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0114, per_task/light_bulb_in_quat_l1_err: 0.6013, per_task/light_bulb_in_quat_l1_ideal_err: 0.6013, per_task/light_bulb_in_pos_acc_0.01: 0.5306, per_task/light_bulb_in_rot_acc_0.025: 0.4694, per_task/light_bulb_in_rot_acc_0.05: 0.4898, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4694, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4898, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0083, per_task/meat_off_grill_quat_l1_err: 0.3085, per_task/meat_off_grill_quat_l1_ideal_err: 0.3085, per_task/meat_off_grill_pos_acc_0.01: 0.7959, per_task/meat_off_grill_rot_acc_0.025: 0.6735, per_task/meat_off_grill_rot_acc_0.05: 0.7551, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6735, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7551, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0100, per_task/open_drawer_quat_l1_err: 0.5490, per_task/open_drawer_quat_l1_ideal_err: 0.5490, per_task/open_drawer_pos_acc_0.01: 0.6129, per_task/open_drawer_rot_acc_0.025: 0.5161, per_task/open_drawer_rot_acc_0.05: 0.7097, per_task/open_drawer_rot_ideal_acc_0.025: 0.5161, per_task/open_drawer_rot_ideal_acc_0.05: 0.7097, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0191, per_task/place_cups_quat_l1_err: 0.3882, per_task/place_cups_quat_l1_ideal_err: 0.3882, per_task/place_cups_pos_acc_0.01: 0.4771, per_task/place_cups_rot_acc_0.025: 0.1835, per_task/place_cups_rot_acc_0.05: 0.5688, per_task/place_cups_rot_ideal_acc_0.025: 0.1835, per_task/place_cups_rot_ideal_acc_0.05: 0.5688, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0124, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3852, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3852, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2791, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4419, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6047, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4419, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6047, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0123, per_task/place_wine_at_rack_location_quat_l1_err: 1.0311, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0311, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.4444, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1667, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2407, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1667, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2407, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0113, per_task/push_buttons_quat_l1_err: 0.0292, per_task/push_buttons_quat_l1_ideal_err: 0.0292, per_task/push_buttons_pos_acc_0.01: 0.4444, per_task/push_buttons_rot_acc_0.025: 0.7778, per_task/push_buttons_rot_acc_0.05: 0.7778, per_task/push_buttons_rot_ideal_acc_0.025: 0.7778, per_task/push_buttons_rot_ideal_acc_0.05: 0.7778, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0207, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5859, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5859, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1750, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3500, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5750, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5750, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0077, per_task/put_item_in_drawer_quat_l1_err: 0.3528, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3528, per_task/put_item_in_drawer_pos_acc_0.01: 0.7849, per_task/put_item_in_drawer_rot_acc_0.025: 0.5591, per_task/put_item_in_drawer_rot_acc_0.05: 0.7204, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5591, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7204, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0113, per_task/put_money_in_safe_quat_l1_err: 0.2437, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2437, per_task/put_money_in_safe_pos_acc_0.01: 0.6170, per_task/put_money_in_safe_rot_acc_0.025: 0.0638, per_task/put_money_in_safe_rot_acc_0.05: 0.5319, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0638, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5319, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0108, per_task/reach_and_drag_quat_l1_err: 0.3206, per_task/reach_and_drag_quat_l1_ideal_err: 0.3206, per_task/reach_and_drag_pos_acc_0.01: 0.5686, per_task/reach_and_drag_rot_acc_0.025: 0.2353, per_task/reach_and_drag_rot_acc_0.05: 0.4314, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2353, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4314, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0115, per_task/slide_block_to_color_target_quat_l1_err: 0.5142, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5142, per_task/slide_block_to_color_target_pos_acc_0.01: 0.4839, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3226, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5161, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3226, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5161, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0128, per_task/stack_blocks_quat_l1_err: 0.3668, per_task/stack_blocks_quat_l1_ideal_err: 0.3668, per_task/stack_blocks_pos_acc_0.01: 0.4113, per_task/stack_blocks_rot_acc_0.025: 0.4965, per_task/stack_blocks_rot_acc_0.05: 0.6312, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4965, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6312, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0114, per_task/stack_cups_quat_l1_err: 0.1086, per_task/stack_cups_quat_l1_ideal_err: 0.1086, per_task/stack_cups_pos_acc_0.01: 0.6024, per_task/stack_cups_rot_acc_0.025: 0.4699, per_task/stack_cups_rot_acc_0.05: 0.5904, per_task/stack_cups_rot_ideal_acc_0.025: 0.4699, per_task/stack_cups_rot_ideal_acc_0.05: 0.5904, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0212, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.5597, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.5597, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.5405, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5135, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5135, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5135, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5135, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0113, per_task/turn_tap_quat_l1_err: 2.0325, per_task/turn_tap_quat_l1_ideal_err: 2.0325, per_task/turn_tap_pos_acc_0.01: 0.3333, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 03:09:53 - INFO - __main__ - =============================================== +04/29/2025 03:16:49 - INFO - __main__ - ==============Epoch 315 Step 37500=============== +04/29/2025 03:16:49 - INFO - __main__ - loss_pos:0.1110, loss_rot:0.2692, loss_open:0.0100, loss_total:2.4996 +04/29/2025 03:16:49 - INFO - __main__ - =============================================== +04/29/2025 03:23:40 - INFO - __main__ - ==============Epoch 319 Step 38000=============== +04/29/2025 03:23:40 - INFO - __main__ - loss_pos:0.1104, loss_rot:0.2639, loss_open:0.0069, loss_total:2.4781 +04/29/2025 03:23:40 - INFO - __main__ - =============================================== +04/29/2025 03:24:10 - INFO - __main__ - =================Validation================= +04/29/2025 03:24:10 - INFO - __main__ - total/pos_l2_err: 0.0121, total/quat_l1_err: 0.4011, total/quat_l1_ideal_err: 0.4011, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.5370, total/rot_acc_0.025: 0.4230, total/rot_acc_0.05: 0.6060, total/rot_ideal_acc_0.025: 0.4230, total/rot_ideal_acc_0.05: 0.6060, per_task/close_jar_pos_l2_err: 0.0115, per_task/close_jar_quat_l1_err: 0.2882, per_task/close_jar_quat_l1_ideal_err: 0.2882, per_task/close_jar_pos_acc_0.01: 0.4643, per_task/close_jar_rot_acc_0.025: 0.3750, per_task/close_jar_rot_acc_0.05: 0.5357, per_task/close_jar_rot_ideal_acc_0.025: 0.3750, per_task/close_jar_rot_ideal_acc_0.05: 0.5357, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0100, per_task/insert_onto_square_peg_quat_l1_err: 0.3668, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3668, per_task/insert_onto_square_peg_pos_acc_0.01: 0.6136, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4773, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5909, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4773, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5909, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0105, per_task/light_bulb_in_quat_l1_err: 0.3436, per_task/light_bulb_in_quat_l1_ideal_err: 0.3436, per_task/light_bulb_in_pos_acc_0.01: 0.6429, per_task/light_bulb_in_rot_acc_0.025: 0.5536, per_task/light_bulb_in_rot_acc_0.05: 0.6786, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5536, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6786, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0080, per_task/meat_off_grill_quat_l1_err: 0.2092, per_task/meat_off_grill_quat_l1_ideal_err: 0.2092, per_task/meat_off_grill_pos_acc_0.01: 0.8667, per_task/meat_off_grill_rot_acc_0.025: 0.6333, per_task/meat_off_grill_rot_acc_0.05: 0.7333, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6333, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7333, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0091, per_task/open_drawer_quat_l1_err: 0.5617, per_task/open_drawer_quat_l1_ideal_err: 0.5617, per_task/open_drawer_pos_acc_0.01: 0.6667, per_task/open_drawer_rot_acc_0.025: 0.6190, per_task/open_drawer_rot_acc_0.05: 0.7143, per_task/open_drawer_rot_ideal_acc_0.025: 0.6190, per_task/open_drawer_rot_ideal_acc_0.05: 0.7143, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0118, per_task/place_cups_quat_l1_err: 0.3345, per_task/place_cups_quat_l1_ideal_err: 0.3345, per_task/place_cups_pos_acc_0.01: 0.4683, per_task/place_cups_rot_acc_0.025: 0.2540, per_task/place_cups_rot_acc_0.05: 0.7063, per_task/place_cups_rot_ideal_acc_0.025: 0.2540, per_task/place_cups_rot_ideal_acc_0.05: 0.7063, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0135, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4437, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4437, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.3137, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3725, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5098, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3725, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5098, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0112, per_task/place_wine_at_rack_location_quat_l1_err: 1.1080, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1080, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5476, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1905, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2857, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1905, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2857, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0122, per_task/push_buttons_quat_l1_err: 0.0231, per_task/push_buttons_quat_l1_ideal_err: 0.0231, per_task/push_buttons_pos_acc_0.01: 0.4500, per_task/push_buttons_rot_acc_0.025: 0.8250, per_task/push_buttons_rot_acc_0.05: 0.8250, per_task/push_buttons_rot_ideal_acc_0.025: 0.8250, per_task/push_buttons_rot_ideal_acc_0.05: 0.8250, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0203, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6140, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6140, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.0909, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2500, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4545, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4545, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0086, per_task/put_item_in_drawer_quat_l1_err: 0.3878, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3878, per_task/put_item_in_drawer_pos_acc_0.01: 0.7212, per_task/put_item_in_drawer_rot_acc_0.025: 0.5577, per_task/put_item_in_drawer_rot_acc_0.05: 0.7115, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5577, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7115, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0110, per_task/put_money_in_safe_quat_l1_err: 0.2472, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2472, per_task/put_money_in_safe_pos_acc_0.01: 0.5116, per_task/put_money_in_safe_rot_acc_0.025: 0.0698, per_task/put_money_in_safe_rot_acc_0.05: 0.4651, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0698, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4651, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0082, per_task/reach_and_drag_quat_l1_err: 0.3478, per_task/reach_and_drag_quat_l1_ideal_err: 0.3478, per_task/reach_and_drag_pos_acc_0.01: 0.7714, per_task/reach_and_drag_rot_acc_0.025: 0.2571, per_task/reach_and_drag_rot_acc_0.05: 0.4286, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2571, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4286, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0115, per_task/slide_block_to_color_target_quat_l1_err: 0.4943, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4943, per_task/slide_block_to_color_target_pos_acc_0.01: 0.4359, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5128, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5128, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0106, per_task/stack_blocks_quat_l1_err: 0.3167, per_task/stack_blocks_quat_l1_ideal_err: 0.3167, per_task/stack_blocks_pos_acc_0.01: 0.5333, per_task/stack_blocks_rot_acc_0.025: 0.5630, per_task/stack_blocks_rot_acc_0.05: 0.6815, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5630, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6815, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0143, per_task/stack_cups_quat_l1_err: 0.2513, per_task/stack_cups_quat_l1_ideal_err: 0.2513, per_task/stack_cups_pos_acc_0.01: 0.6104, per_task/stack_cups_rot_acc_0.025: 0.4286, per_task/stack_cups_rot_acc_0.05: 0.6623, per_task/stack_cups_rot_ideal_acc_0.025: 0.4286, per_task/stack_cups_rot_ideal_acc_0.05: 0.6623, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0329, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1730, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1730, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4571, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6571, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6571, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6571, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6571, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0095, per_task/turn_tap_quat_l1_err: 1.8960, per_task/turn_tap_quat_l1_ideal_err: 1.8960, per_task/turn_tap_pos_acc_0.01: 0.5455, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 03:24:10 - INFO - __main__ - =============================================== +04/29/2025 03:31:04 - INFO - __main__ - ==============Epoch 323 Step 38500=============== +04/29/2025 03:31:04 - INFO - __main__ - loss_pos:0.1111, loss_rot:0.2576, loss_open:0.0100, loss_total:2.4889 +04/29/2025 03:31:04 - INFO - __main__ - =============================================== +04/29/2025 03:37:57 - INFO - __main__ - ==============Epoch 327 Step 39000=============== +04/29/2025 03:37:57 - INFO - __main__ - loss_pos:0.1106, loss_rot:0.2596, loss_open:0.0054, loss_total:2.4780 +04/29/2025 03:37:57 - INFO - __main__ - =============================================== +04/29/2025 03:38:28 - INFO - __main__ - =================Validation================= +04/29/2025 03:38:28 - INFO - __main__ - total/pos_l2_err: 0.0135, total/quat_l1_err: 0.4027, total/quat_l1_ideal_err: 0.4031, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.5870, total/rot_acc_0.025: 0.4230, total/rot_acc_0.05: 0.5990, total/rot_ideal_acc_0.025: 0.4230, total/rot_ideal_acc_0.05: 0.5990, per_task/close_jar_pos_l2_err: 0.0110, per_task/close_jar_quat_l1_err: 0.3236, per_task/close_jar_quat_l1_ideal_err: 0.3236, per_task/close_jar_pos_acc_0.01: 0.4583, per_task/close_jar_rot_acc_0.025: 0.3958, per_task/close_jar_rot_acc_0.05: 0.5208, per_task/close_jar_rot_ideal_acc_0.025: 0.3958, per_task/close_jar_rot_ideal_acc_0.05: 0.5208, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0093, per_task/insert_onto_square_peg_quat_l1_err: 0.2472, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2472, per_task/insert_onto_square_peg_pos_acc_0.01: 0.6458, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5625, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7500, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5625, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7500, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0086, per_task/light_bulb_in_quat_l1_err: 0.4477, per_task/light_bulb_in_quat_l1_ideal_err: 0.4477, per_task/light_bulb_in_pos_acc_0.01: 0.6308, per_task/light_bulb_in_rot_acc_0.025: 0.4308, per_task/light_bulb_in_rot_acc_0.05: 0.5231, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4308, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5231, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0088, per_task/meat_off_grill_quat_l1_err: 0.1817, per_task/meat_off_grill_quat_l1_ideal_err: 0.1817, per_task/meat_off_grill_pos_acc_0.01: 0.7368, per_task/meat_off_grill_rot_acc_0.025: 0.6579, per_task/meat_off_grill_rot_acc_0.05: 0.7895, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6579, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7895, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0141, per_task/place_cups_quat_l1_err: 0.3131, per_task/place_cups_quat_l1_ideal_err: 0.3131, per_task/place_cups_pos_acc_0.01: 0.5714, per_task/place_cups_rot_acc_0.025: 0.2500, per_task/place_cups_rot_acc_0.05: 0.6964, per_task/place_cups_rot_ideal_acc_0.025: 0.2500, per_task/place_cups_rot_ideal_acc_0.05: 0.6964, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0129, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4837, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4837, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.3696, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2826, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2826, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0119, per_task/place_wine_at_rack_location_quat_l1_err: 1.0287, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0287, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3684, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1754, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2632, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1754, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2632, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0089, per_task/push_buttons_quat_l1_err: 0.0273, per_task/push_buttons_quat_l1_ideal_err: 0.0273, per_task/push_buttons_pos_acc_0.01: 0.6667, per_task/push_buttons_rot_acc_0.025: 0.7917, per_task/push_buttons_rot_acc_0.05: 0.7917, per_task/push_buttons_rot_ideal_acc_0.025: 0.7917, per_task/push_buttons_rot_ideal_acc_0.05: 0.7917, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0205, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5297, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5297, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2439, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3171, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4634, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3171, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4634, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0094, per_task/put_item_in_drawer_quat_l1_err: 0.3388, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3388, per_task/put_item_in_drawer_pos_acc_0.01: 0.6882, per_task/put_item_in_drawer_rot_acc_0.025: 0.6452, per_task/put_item_in_drawer_rot_acc_0.05: 0.7634, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6452, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7634, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0104, per_task/put_money_in_safe_quat_l1_err: 0.3548, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3548, per_task/put_money_in_safe_pos_acc_0.01: 0.6000, per_task/put_money_in_safe_rot_acc_0.025: 0.0222, per_task/put_money_in_safe_rot_acc_0.05: 0.4000, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0222, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4000, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0076, per_task/reach_and_drag_quat_l1_err: 0.2903, per_task/reach_and_drag_quat_l1_ideal_err: 0.2903, per_task/reach_and_drag_pos_acc_0.01: 0.7800, per_task/reach_and_drag_rot_acc_0.025: 0.3400, per_task/reach_and_drag_rot_acc_0.05: 0.5200, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3400, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5200, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0080, per_task/slide_block_to_color_target_quat_l1_err: 0.4537, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4537, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7931, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3448, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5517, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3448, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5517, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0098, per_task/stack_blocks_quat_l1_err: 0.2701, per_task/stack_blocks_quat_l1_ideal_err: 0.2701, per_task/stack_blocks_pos_acc_0.01: 0.5839, per_task/stack_blocks_rot_acc_0.025: 0.5693, per_task/stack_blocks_rot_acc_0.05: 0.7080, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5693, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7080, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0099, per_task/stack_cups_quat_l1_err: 0.2359, per_task/stack_cups_quat_l1_ideal_err: 0.2359, per_task/stack_cups_pos_acc_0.01: 0.6782, per_task/stack_cups_rot_acc_0.025: 0.4023, per_task/stack_cups_rot_acc_0.05: 0.5747, per_task/stack_cups_rot_ideal_acc_0.025: 0.4023, per_task/stack_cups_rot_ideal_acc_0.05: 0.5747, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0603, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1372, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1372, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.4884, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8140, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8140, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8140, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8140, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0425, per_task/turn_tap_quat_l1_err: 2.0790, per_task/turn_tap_quat_l1_ideal_err: 2.0977, per_task/turn_tap_pos_acc_0.01: 0.6500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9500, per_task/turn_tap_open_acc_ideal: 0.9500, per_task/open_drawer_pos_l2_err: 0.0098, per_task/open_drawer_quat_l1_err: 1.2230, per_task/open_drawer_quat_l1_ideal_err: 1.2230, per_task/open_drawer_pos_acc_0.01: 0.6471, per_task/open_drawer_rot_acc_0.025: 0.2941, per_task/open_drawer_rot_acc_0.05: 0.4118, per_task/open_drawer_rot_ideal_acc_0.025: 0.2941, per_task/open_drawer_rot_ideal_acc_0.05: 0.4118, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000 +04/29/2025 03:38:28 - INFO - __main__ - =============================================== +04/29/2025 03:45:25 - INFO - __main__ - ==============Epoch 331 Step 39500=============== +04/29/2025 03:45:25 - INFO - __main__ - loss_pos:0.1097, loss_rot:0.2563, loss_open:0.0060, loss_total:2.4563 +04/29/2025 03:45:25 - INFO - __main__ - =============================================== +04/29/2025 03:52:21 - INFO - __main__ - ==============Epoch 336 Step 40000=============== +04/29/2025 03:52:21 - INFO - __main__ - loss_pos:0.1096, loss_rot:0.2611, loss_open:0.0082, loss_total:2.4622 +04/29/2025 03:52:21 - INFO - __main__ - =============================================== +04/29/2025 03:52:52 - INFO - __main__ - =================Validation================= +04/29/2025 03:52:52 - INFO - __main__ - total/pos_l2_err: 0.0115, total/quat_l1_err: 0.4285, total/quat_l1_ideal_err: 0.4285, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.5750, total/rot_acc_0.025: 0.4210, total/rot_acc_0.05: 0.5790, total/rot_ideal_acc_0.025: 0.4210, total/rot_ideal_acc_0.05: 0.5790, per_task/close_jar_pos_l2_err: 0.0081, per_task/close_jar_quat_l1_err: 0.1417, per_task/close_jar_quat_l1_ideal_err: 0.1417, per_task/close_jar_pos_acc_0.01: 0.7222, per_task/close_jar_rot_acc_0.025: 0.6111, per_task/close_jar_rot_acc_0.05: 0.6667, per_task/close_jar_rot_ideal_acc_0.025: 0.6111, per_task/close_jar_rot_ideal_acc_0.05: 0.6667, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0091, per_task/insert_onto_square_peg_quat_l1_err: 0.4021, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4021, per_task/insert_onto_square_peg_pos_acc_0.01: 0.6667, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3810, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6190, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3810, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6190, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0091, per_task/light_bulb_in_quat_l1_err: 0.4040, per_task/light_bulb_in_quat_l1_ideal_err: 0.4040, per_task/light_bulb_in_pos_acc_0.01: 0.6207, per_task/light_bulb_in_rot_acc_0.025: 0.5862, per_task/light_bulb_in_rot_acc_0.05: 0.6379, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5862, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6379, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0098, per_task/meat_off_grill_quat_l1_err: 0.2417, per_task/meat_off_grill_quat_l1_ideal_err: 0.2417, per_task/meat_off_grill_pos_acc_0.01: 0.5278, per_task/meat_off_grill_rot_acc_0.025: 0.6944, per_task/meat_off_grill_rot_acc_0.05: 0.8333, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6944, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8333, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0089, per_task/open_drawer_quat_l1_err: 0.9546, per_task/open_drawer_quat_l1_ideal_err: 0.9546, per_task/open_drawer_pos_acc_0.01: 0.7778, per_task/open_drawer_rot_acc_0.025: 0.4074, per_task/open_drawer_rot_acc_0.05: 0.5556, per_task/open_drawer_rot_ideal_acc_0.025: 0.4074, per_task/open_drawer_rot_ideal_acc_0.05: 0.5556, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0121, per_task/place_cups_quat_l1_err: 0.4870, per_task/place_cups_quat_l1_ideal_err: 0.4870, per_task/place_cups_pos_acc_0.01: 0.6190, per_task/place_cups_rot_acc_0.025: 0.1746, per_task/place_cups_rot_acc_0.05: 0.5556, per_task/place_cups_rot_ideal_acc_0.025: 0.1746, per_task/place_cups_rot_ideal_acc_0.05: 0.5556, per_task/place_cups_open_acc: 0.9921, per_task/place_cups_open_acc_ideal: 0.9921, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0111, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5047, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5047, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.5405, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3784, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5135, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3784, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5135, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0135, per_task/place_wine_at_rack_location_quat_l1_err: 0.8430, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8430, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3617, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2553, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3404, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2553, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3404, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0112, per_task/push_buttons_quat_l1_err: 0.0382, per_task/push_buttons_quat_l1_ideal_err: 0.0382, per_task/push_buttons_pos_acc_0.01: 0.5000, per_task/push_buttons_rot_acc_0.025: 0.7059, per_task/push_buttons_rot_acc_0.05: 0.7059, per_task/push_buttons_rot_ideal_acc_0.025: 0.7059, per_task/push_buttons_rot_ideal_acc_0.05: 0.7059, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0188, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6615, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6615, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1316, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3947, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3947, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5000, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0091, per_task/put_item_in_drawer_quat_l1_err: 0.3940, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3940, per_task/put_item_in_drawer_pos_acc_0.01: 0.6458, per_task/put_item_in_drawer_rot_acc_0.025: 0.5521, per_task/put_item_in_drawer_rot_acc_0.05: 0.6979, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5521, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6979, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0118, per_task/put_money_in_safe_quat_l1_err: 0.2217, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2217, per_task/put_money_in_safe_pos_acc_0.01: 0.4595, per_task/put_money_in_safe_rot_acc_0.025: 0.0541, per_task/put_money_in_safe_rot_acc_0.05: 0.4595, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0541, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4595, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0064, per_task/reach_and_drag_quat_l1_err: 0.2698, per_task/reach_and_drag_quat_l1_ideal_err: 0.2698, per_task/reach_and_drag_pos_acc_0.01: 0.8889, per_task/reach_and_drag_rot_acc_0.025: 0.2889, per_task/reach_and_drag_rot_acc_0.05: 0.4667, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2889, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4667, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0112, per_task/slide_block_to_color_target_quat_l1_err: 0.3779, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3779, per_task/slide_block_to_color_target_pos_acc_0.01: 0.3947, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4737, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5789, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4737, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5789, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0109, per_task/stack_blocks_quat_l1_err: 0.4466, per_task/stack_blocks_quat_l1_ideal_err: 0.4471, per_task/stack_blocks_pos_acc_0.01: 0.5429, per_task/stack_blocks_rot_acc_0.025: 0.4571, per_task/stack_blocks_rot_acc_0.05: 0.5929, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4571, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5929, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0115, per_task/stack_cups_quat_l1_err: 0.2307, per_task/stack_cups_quat_l1_ideal_err: 0.2307, per_task/stack_cups_pos_acc_0.01: 0.6383, per_task/stack_cups_rot_acc_0.025: 0.4255, per_task/stack_cups_rot_acc_0.05: 0.5638, per_task/stack_cups_rot_ideal_acc_0.025: 0.4255, per_task/stack_cups_rot_ideal_acc_0.05: 0.5638, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0238, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2814, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2814, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.5400, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7200, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7200, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7200, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7200, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0102, per_task/turn_tap_quat_l1_err: 1.6658, per_task/turn_tap_quat_l1_ideal_err: 1.6658, per_task/turn_tap_pos_acc_0.01: 0.5789, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9474, per_task/turn_tap_open_acc_ideal: 0.9474 +04/29/2025 03:52:52 - INFO - __main__ - =============================================== +04/29/2025 03:59:47 - INFO - __main__ - ==============Epoch 340 Step 40500=============== +04/29/2025 03:59:47 - INFO - __main__ - loss_pos:0.1098, loss_rot:0.2588, loss_open:0.0085, loss_total:2.4626 +04/29/2025 03:59:47 - INFO - __main__ - =============================================== +04/29/2025 04:06:43 - INFO - __main__ - ==============Epoch 344 Step 41000=============== +04/29/2025 04:06:43 - INFO - __main__ - loss_pos:0.1094, loss_rot:0.2526, loss_open:0.0056, loss_total:2.4471 +04/29/2025 04:06:43 - INFO - __main__ - =============================================== +04/29/2025 04:07:14 - INFO - __main__ - =================Validation================= +04/29/2025 04:07:14 - INFO - __main__ - total/pos_l2_err: 0.0130, total/quat_l1_err: 0.4202, total/quat_l1_ideal_err: 0.4203, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.5720, total/rot_acc_0.025: 0.4370, total/rot_acc_0.05: 0.5890, total/rot_ideal_acc_0.025: 0.4370, total/rot_ideal_acc_0.05: 0.5890, per_task/close_jar_pos_l2_err: 0.0098, per_task/close_jar_quat_l1_err: 0.2053, per_task/close_jar_quat_l1_ideal_err: 0.2053, per_task/close_jar_pos_acc_0.01: 0.5192, per_task/close_jar_rot_acc_0.025: 0.5962, per_task/close_jar_rot_acc_0.05: 0.6538, per_task/close_jar_rot_ideal_acc_0.025: 0.5962, per_task/close_jar_rot_ideal_acc_0.05: 0.6538, per_task/close_jar_open_acc: 0.9808, per_task/close_jar_open_acc_ideal: 0.9808, per_task/insert_onto_square_peg_pos_l2_err: 0.0087, per_task/insert_onto_square_peg_quat_l1_err: 0.4675, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4675, per_task/insert_onto_square_peg_pos_acc_0.01: 0.6944, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5556, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6389, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5556, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6389, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0084, per_task/light_bulb_in_quat_l1_err: 0.4431, per_task/light_bulb_in_quat_l1_ideal_err: 0.4431, per_task/light_bulb_in_pos_acc_0.01: 0.7246, per_task/light_bulb_in_rot_acc_0.025: 0.6232, per_task/light_bulb_in_rot_acc_0.05: 0.6377, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6232, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6377, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0080, per_task/meat_off_grill_quat_l1_err: 0.1850, per_task/meat_off_grill_quat_l1_ideal_err: 0.1850, per_task/meat_off_grill_pos_acc_0.01: 0.7500, per_task/meat_off_grill_rot_acc_0.025: 0.7000, per_task/meat_off_grill_rot_acc_0.05: 0.8250, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7000, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8250, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0122, per_task/open_drawer_quat_l1_err: 0.4903, per_task/open_drawer_quat_l1_ideal_err: 0.4903, per_task/open_drawer_pos_acc_0.01: 0.4800, per_task/open_drawer_rot_acc_0.025: 0.5200, per_task/open_drawer_rot_acc_0.05: 0.7600, per_task/open_drawer_rot_ideal_acc_0.025: 0.5200, per_task/open_drawer_rot_ideal_acc_0.05: 0.7600, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0285, per_task/place_cups_quat_l1_err: 0.4434, per_task/place_cups_quat_l1_ideal_err: 0.4440, per_task/place_cups_pos_acc_0.01: 0.4757, per_task/place_cups_rot_acc_0.025: 0.1456, per_task/place_cups_rot_acc_0.05: 0.6117, per_task/place_cups_rot_ideal_acc_0.025: 0.1456, per_task/place_cups_rot_ideal_acc_0.05: 0.6117, per_task/place_cups_open_acc: 0.9903, per_task/place_cups_open_acc_ideal: 0.9903, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0138, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4390, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4390, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.3478, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3696, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4130, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3696, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4130, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0093, per_task/place_wine_at_rack_location_quat_l1_err: 1.0480, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0480, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.6585, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1707, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2683, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1707, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2683, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0099, per_task/push_buttons_quat_l1_err: 0.0197, per_task/push_buttons_quat_l1_ideal_err: 0.0197, per_task/push_buttons_pos_acc_0.01: 0.5185, per_task/push_buttons_rot_acc_0.025: 0.8519, per_task/push_buttons_rot_acc_0.05: 0.8519, per_task/push_buttons_rot_ideal_acc_0.025: 0.8519, per_task/push_buttons_rot_ideal_acc_0.05: 0.8519, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0199, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5093, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5093, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1795, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4359, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5385, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4359, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5385, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0106, per_task/put_item_in_drawer_quat_l1_err: 0.4178, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4178, per_task/put_item_in_drawer_pos_acc_0.01: 0.5208, per_task/put_item_in_drawer_rot_acc_0.025: 0.5625, per_task/put_item_in_drawer_rot_acc_0.05: 0.6771, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5625, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6771, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0107, per_task/put_money_in_safe_quat_l1_err: 0.2392, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2392, per_task/put_money_in_safe_pos_acc_0.01: 0.4902, per_task/put_money_in_safe_rot_acc_0.025: 0.0392, per_task/put_money_in_safe_rot_acc_0.05: 0.5490, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0392, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5490, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0076, per_task/reach_and_drag_quat_l1_err: 0.3001, per_task/reach_and_drag_quat_l1_ideal_err: 0.3001, per_task/reach_and_drag_pos_acc_0.01: 0.7547, per_task/reach_and_drag_rot_acc_0.025: 0.2075, per_task/reach_and_drag_rot_acc_0.05: 0.3396, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2075, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3396, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0113, per_task/slide_block_to_color_target_quat_l1_err: 0.3719, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3719, per_task/slide_block_to_color_target_pos_acc_0.01: 0.5185, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5185, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6296, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5185, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6296, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0096, per_task/stack_blocks_quat_l1_err: 0.3950, per_task/stack_blocks_quat_l1_ideal_err: 0.3950, per_task/stack_blocks_pos_acc_0.01: 0.6875, per_task/stack_blocks_rot_acc_0.025: 0.5417, per_task/stack_blocks_rot_acc_0.05: 0.6458, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5417, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6458, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0124, per_task/stack_cups_quat_l1_err: 0.2043, per_task/stack_cups_quat_l1_ideal_err: 0.2043, per_task/stack_cups_pos_acc_0.01: 0.5750, per_task/stack_cups_rot_acc_0.025: 0.3875, per_task/stack_cups_rot_acc_0.05: 0.5625, per_task/stack_cups_rot_ideal_acc_0.025: 0.3875, per_task/stack_cups_rot_ideal_acc_0.05: 0.5625, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0235, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3691, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3691, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.6122, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6735, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6735, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6735, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6735, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0102, per_task/turn_tap_quat_l1_err: 1.9860, per_task/turn_tap_quat_l1_ideal_err: 1.9860, per_task/turn_tap_pos_acc_0.01: 0.5000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 04:07:14 - INFO - __main__ - =============================================== +04/29/2025 04:14:05 - INFO - __main__ - ==============Epoch 348 Step 41500=============== +04/29/2025 04:14:05 - INFO - __main__ - loss_pos:0.1090, loss_rot:0.2525, loss_open:0.0062, loss_total:2.4384 +04/29/2025 04:14:05 - INFO - __main__ - =============================================== +04/29/2025 04:20:58 - INFO - __main__ - ==============Epoch 352 Step 42000=============== +04/29/2025 04:20:58 - INFO - __main__ - loss_pos:0.1088, loss_rot:0.2489, loss_open:0.0050, loss_total:2.4296 +04/29/2025 04:20:58 - INFO - __main__ - =============================================== +04/29/2025 04:21:29 - INFO - __main__ - =================Validation================= +04/29/2025 04:21:29 - INFO - __main__ - total/pos_l2_err: 0.0119, total/quat_l1_err: 0.3869, total/quat_l1_ideal_err: 0.3852, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.6660, total/rot_acc_0.025: 0.4180, total/rot_acc_0.05: 0.6130, total/rot_ideal_acc_0.025: 0.4180, total/rot_ideal_acc_0.05: 0.6130, per_task/close_jar_pos_l2_err: 0.0096, per_task/close_jar_quat_l1_err: 0.1941, per_task/close_jar_quat_l1_ideal_err: 0.1941, per_task/close_jar_pos_acc_0.01: 0.6923, per_task/close_jar_rot_acc_0.025: 0.5769, per_task/close_jar_rot_acc_0.05: 0.7115, per_task/close_jar_rot_ideal_acc_0.025: 0.5769, per_task/close_jar_rot_ideal_acc_0.05: 0.7115, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0112, per_task/insert_onto_square_peg_quat_l1_err: 0.3845, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3845, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5111, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5333, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6444, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5333, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6444, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0085, per_task/light_bulb_in_quat_l1_err: 0.2787, per_task/light_bulb_in_quat_l1_ideal_err: 0.2787, per_task/light_bulb_in_pos_acc_0.01: 0.6667, per_task/light_bulb_in_rot_acc_0.025: 0.4762, per_task/light_bulb_in_rot_acc_0.05: 0.5952, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4762, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5952, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0068, per_task/meat_off_grill_quat_l1_err: 0.1945, per_task/meat_off_grill_quat_l1_ideal_err: 0.1945, per_task/meat_off_grill_pos_acc_0.01: 0.8261, per_task/meat_off_grill_rot_acc_0.025: 0.6957, per_task/meat_off_grill_rot_acc_0.05: 0.8478, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6957, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8478, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0064, per_task/open_drawer_quat_l1_err: 0.7832, per_task/open_drawer_quat_l1_ideal_err: 0.7832, per_task/open_drawer_pos_acc_0.01: 0.8519, per_task/open_drawer_rot_acc_0.025: 0.4444, per_task/open_drawer_rot_acc_0.05: 0.6296, per_task/open_drawer_rot_ideal_acc_0.025: 0.4444, per_task/open_drawer_rot_ideal_acc_0.05: 0.6296, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0157, per_task/place_cups_quat_l1_err: 0.4309, per_task/place_cups_quat_l1_ideal_err: 0.4168, per_task/place_cups_pos_acc_0.01: 0.5328, per_task/place_cups_rot_acc_0.025: 0.1557, per_task/place_cups_rot_acc_0.05: 0.6230, per_task/place_cups_rot_ideal_acc_0.025: 0.1557, per_task/place_cups_rot_ideal_acc_0.05: 0.6230, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0130, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.2563, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.2563, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.4186, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4186, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6744, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4186, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6744, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0089, per_task/place_wine_at_rack_location_quat_l1_err: 0.8430, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8430, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.7250, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3500, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4750, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4750, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0090, per_task/push_buttons_quat_l1_err: 0.0390, per_task/push_buttons_quat_l1_ideal_err: 0.0390, per_task/push_buttons_pos_acc_0.01: 0.5333, per_task/push_buttons_rot_acc_0.025: 0.7000, per_task/push_buttons_rot_acc_0.05: 0.7000, per_task/push_buttons_rot_ideal_acc_0.025: 0.7000, per_task/push_buttons_rot_ideal_acc_0.05: 0.7000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0223, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5581, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5581, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1951, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4390, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5366, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4390, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5366, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0064, per_task/put_item_in_drawer_quat_l1_err: 0.4733, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4733, per_task/put_item_in_drawer_pos_acc_0.01: 0.8900, per_task/put_item_in_drawer_rot_acc_0.025: 0.5200, per_task/put_item_in_drawer_rot_acc_0.05: 0.6400, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5200, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6400, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0095, per_task/put_money_in_safe_quat_l1_err: 0.2250, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2250, per_task/put_money_in_safe_pos_acc_0.01: 0.6341, per_task/put_money_in_safe_rot_acc_0.025: 0.0244, per_task/put_money_in_safe_rot_acc_0.05: 0.5610, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0244, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5610, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0076, per_task/reach_and_drag_quat_l1_err: 0.3523, per_task/reach_and_drag_quat_l1_ideal_err: 0.3523, per_task/reach_and_drag_pos_acc_0.01: 0.7797, per_task/reach_and_drag_rot_acc_0.025: 0.2881, per_task/reach_and_drag_rot_acc_0.05: 0.4746, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2881, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4746, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0086, per_task/slide_block_to_color_target_quat_l1_err: 0.4276, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4276, per_task/slide_block_to_color_target_pos_acc_0.01: 0.6538, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3846, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5769, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3846, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5769, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0095, per_task/stack_blocks_quat_l1_err: 0.3992, per_task/stack_blocks_quat_l1_ideal_err: 0.3992, per_task/stack_blocks_pos_acc_0.01: 0.6535, per_task/stack_blocks_rot_acc_0.025: 0.4882, per_task/stack_blocks_rot_acc_0.05: 0.6220, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4882, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6220, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0075, per_task/stack_cups_quat_l1_err: 0.0602, per_task/stack_cups_quat_l1_ideal_err: 0.0602, per_task/stack_cups_pos_acc_0.01: 0.8081, per_task/stack_cups_rot_acc_0.025: 0.3939, per_task/stack_cups_rot_acc_0.05: 0.6162, per_task/stack_cups_rot_ideal_acc_0.025: 0.3939, per_task/stack_cups_rot_ideal_acc_0.05: 0.6162, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0501, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4893, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4893, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.6222, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6444, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6444, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6444, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6444, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0065, per_task/turn_tap_quat_l1_err: 1.9484, per_task/turn_tap_quat_l1_ideal_err: 1.9484, per_task/turn_tap_pos_acc_0.01: 0.8667, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 04:21:29 - INFO - __main__ - =============================================== +04/29/2025 04:28:28 - INFO - __main__ - ==============Epoch 357 Step 42500=============== +04/29/2025 04:28:28 - INFO - __main__ - loss_pos:0.1085, loss_rot:0.2468, loss_open:0.0053, loss_total:2.4227 +04/29/2025 04:28:28 - INFO - __main__ - =============================================== +04/29/2025 04:35:22 - INFO - __main__ - ==============Epoch 361 Step 43000=============== +04/29/2025 04:35:22 - INFO - __main__ - loss_pos:0.1081, loss_rot:0.2393, loss_open:0.0044, loss_total:2.4049 +04/29/2025 04:35:22 - INFO - __main__ - =============================================== +04/29/2025 04:35:52 - INFO - __main__ - =================Validation================= +04/29/2025 04:35:52 - INFO - __main__ - total/pos_l2_err: 0.0098, total/quat_l1_err: 0.4021, total/quat_l1_ideal_err: 0.4021, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.7750, total/rot_acc_0.025: 0.4210, total/rot_acc_0.05: 0.6080, total/rot_ideal_acc_0.025: 0.4210, total/rot_ideal_acc_0.05: 0.6080, per_task/close_jar_pos_l2_err: 0.0070, per_task/close_jar_quat_l1_err: 0.2082, per_task/close_jar_quat_l1_ideal_err: 0.2082, per_task/close_jar_pos_acc_0.01: 0.8222, per_task/close_jar_rot_acc_0.025: 0.6222, per_task/close_jar_rot_acc_0.05: 0.7111, per_task/close_jar_rot_ideal_acc_0.025: 0.6222, per_task/close_jar_rot_ideal_acc_0.05: 0.7111, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0074, per_task/insert_onto_square_peg_quat_l1_err: 0.4583, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4583, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8250, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4500, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6250, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4500, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6250, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0072, per_task/light_bulb_in_quat_l1_err: 0.5340, per_task/light_bulb_in_quat_l1_ideal_err: 0.5340, per_task/light_bulb_in_pos_acc_0.01: 0.8254, per_task/light_bulb_in_rot_acc_0.025: 0.4127, per_task/light_bulb_in_rot_acc_0.05: 0.4921, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4127, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4921, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0048, per_task/meat_off_grill_quat_l1_err: 0.3223, per_task/meat_off_grill_quat_l1_ideal_err: 0.3223, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6889, per_task/meat_off_grill_rot_acc_0.05: 0.8000, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6889, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8000, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0056, per_task/open_drawer_quat_l1_err: 0.8609, per_task/open_drawer_quat_l1_ideal_err: 0.8609, per_task/open_drawer_pos_acc_0.01: 0.9333, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.6000, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0101, per_task/place_cups_quat_l1_err: 0.3495, per_task/place_cups_quat_l1_ideal_err: 0.3495, per_task/place_cups_pos_acc_0.01: 0.7421, per_task/place_cups_rot_acc_0.025: 0.2264, per_task/place_cups_rot_acc_0.05: 0.6604, per_task/place_cups_rot_ideal_acc_0.025: 0.2264, per_task/place_cups_rot_ideal_acc_0.05: 0.6604, per_task/place_cups_open_acc: 0.9937, per_task/place_cups_open_acc_ideal: 0.9937, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0107, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4839, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4839, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6571, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4000, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4857, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4857, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0096, per_task/place_wine_at_rack_location_quat_l1_err: 0.8117, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8117, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.6111, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2222, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3889, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2222, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3889, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0065, per_task/push_buttons_quat_l1_err: 0.0423, per_task/push_buttons_quat_l1_ideal_err: 0.0423, per_task/push_buttons_pos_acc_0.01: 0.8140, per_task/push_buttons_rot_acc_0.025: 0.6744, per_task/push_buttons_rot_acc_0.05: 0.6744, per_task/push_buttons_rot_ideal_acc_0.025: 0.6744, per_task/push_buttons_rot_ideal_acc_0.05: 0.6744, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0150, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6070, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6070, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.3333, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3810, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5714, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3810, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5714, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0065, per_task/put_item_in_drawer_quat_l1_err: 0.3289, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3289, per_task/put_item_in_drawer_pos_acc_0.01: 0.8632, per_task/put_item_in_drawer_rot_acc_0.025: 0.5368, per_task/put_item_in_drawer_rot_acc_0.05: 0.7263, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5368, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7263, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0078, per_task/put_money_in_safe_quat_l1_err: 0.2604, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2604, per_task/put_money_in_safe_pos_acc_0.01: 0.8485, per_task/put_money_in_safe_rot_acc_0.025: 0.0606, per_task/put_money_in_safe_rot_acc_0.05: 0.5455, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0606, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5455, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0049, per_task/reach_and_drag_quat_l1_err: 0.3359, per_task/reach_and_drag_quat_l1_ideal_err: 0.3359, per_task/reach_and_drag_pos_acc_0.01: 0.9444, per_task/reach_and_drag_rot_acc_0.025: 0.3333, per_task/reach_and_drag_rot_acc_0.05: 0.4444, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4444, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0085, per_task/slide_block_to_color_target_quat_l1_err: 0.3909, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3909, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7586, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4138, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5862, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4138, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5862, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0093, per_task/stack_blocks_quat_l1_err: 0.3209, per_task/stack_blocks_quat_l1_ideal_err: 0.3209, per_task/stack_blocks_pos_acc_0.01: 0.7535, per_task/stack_blocks_rot_acc_0.025: 0.4789, per_task/stack_blocks_rot_acc_0.05: 0.6127, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4789, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6127, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0081, per_task/stack_cups_quat_l1_err: 0.1704, per_task/stack_cups_quat_l1_ideal_err: 0.1704, per_task/stack_cups_pos_acc_0.01: 0.7917, per_task/stack_cups_rot_acc_0.025: 0.4722, per_task/stack_cups_rot_acc_0.05: 0.5972, per_task/stack_cups_rot_ideal_acc_0.025: 0.4722, per_task/stack_cups_rot_ideal_acc_0.05: 0.5972, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0295, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2792, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2792, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.6571, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7714, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7714, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0414, per_task/turn_tap_quat_l1_err: 2.0240, per_task/turn_tap_quat_l1_ideal_err: 2.0240, per_task/turn_tap_pos_acc_0.01: 0.7500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 04:35:52 - INFO - __main__ - =============================================== +04/29/2025 04:42:43 - INFO - __main__ - ==============Epoch 365 Step 43500=============== +04/29/2025 04:42:43 - INFO - __main__ - loss_pos:0.1078, loss_rot:0.2409, loss_open:0.0042, loss_total:2.4019 +04/29/2025 04:42:43 - INFO - __main__ - =============================================== +04/29/2025 04:49:40 - INFO - __main__ - ==============Epoch 369 Step 44000=============== +04/29/2025 04:49:40 - INFO - __main__ - loss_pos:0.1077, loss_rot:0.2414, loss_open:0.0047, loss_total:2.3993 +04/29/2025 04:49:40 - INFO - __main__ - =============================================== +04/29/2025 04:50:11 - INFO - __main__ - =================Validation================= +04/29/2025 04:50:11 - INFO - __main__ - total/pos_l2_err: 0.0108, total/quat_l1_err: 0.3917, total/quat_l1_ideal_err: 0.3917, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.6640, total/rot_acc_0.025: 0.4450, total/rot_acc_0.05: 0.6190, total/rot_ideal_acc_0.025: 0.4450, total/rot_ideal_acc_0.05: 0.6190, per_task/close_jar_pos_l2_err: 0.0090, per_task/close_jar_quat_l1_err: 0.1423, per_task/close_jar_quat_l1_ideal_err: 0.1423, per_task/close_jar_pos_acc_0.01: 0.6557, per_task/close_jar_rot_acc_0.025: 0.6066, per_task/close_jar_rot_acc_0.05: 0.7213, per_task/close_jar_rot_ideal_acc_0.025: 0.6066, per_task/close_jar_rot_ideal_acc_0.05: 0.7213, per_task/close_jar_open_acc: 0.9836, per_task/close_jar_open_acc_ideal: 0.9836, per_task/insert_onto_square_peg_pos_l2_err: 0.0070, per_task/insert_onto_square_peg_quat_l1_err: 0.5433, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5433, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8235, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3824, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3824, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0079, per_task/light_bulb_in_quat_l1_err: 0.4966, per_task/light_bulb_in_quat_l1_ideal_err: 0.4966, per_task/light_bulb_in_pos_acc_0.01: 0.6964, per_task/light_bulb_in_rot_acc_0.025: 0.4821, per_task/light_bulb_in_rot_acc_0.05: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4821, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5000, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0075, per_task/meat_off_grill_quat_l1_err: 0.1941, per_task/meat_off_grill_quat_l1_ideal_err: 0.1941, per_task/meat_off_grill_pos_acc_0.01: 0.7843, per_task/meat_off_grill_rot_acc_0.025: 0.7255, per_task/meat_off_grill_rot_acc_0.05: 0.8431, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7255, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8431, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0066, per_task/open_drawer_quat_l1_err: 0.7297, per_task/open_drawer_quat_l1_ideal_err: 0.7297, per_task/open_drawer_pos_acc_0.01: 0.8889, per_task/open_drawer_rot_acc_0.025: 0.3889, per_task/open_drawer_rot_acc_0.05: 0.6667, per_task/open_drawer_rot_ideal_acc_0.025: 0.3889, per_task/open_drawer_rot_ideal_acc_0.05: 0.6667, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0153, per_task/place_cups_quat_l1_err: 0.3453, per_task/place_cups_quat_l1_ideal_err: 0.3453, per_task/place_cups_pos_acc_0.01: 0.6174, per_task/place_cups_rot_acc_0.025: 0.2783, per_task/place_cups_rot_acc_0.05: 0.6783, per_task/place_cups_rot_ideal_acc_0.025: 0.2783, per_task/place_cups_rot_ideal_acc_0.05: 0.6783, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0132, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4318, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4318, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.2647, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3529, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4706, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3529, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4706, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0115, per_task/place_wine_at_rack_location_quat_l1_err: 1.0326, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0326, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.4286, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2286, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3714, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2286, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3714, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0090, per_task/push_buttons_quat_l1_err: 0.0278, per_task/push_buttons_quat_l1_ideal_err: 0.0278, per_task/push_buttons_pos_acc_0.01: 0.5455, per_task/push_buttons_rot_acc_0.025: 0.7879, per_task/push_buttons_rot_acc_0.05: 0.7879, per_task/push_buttons_rot_ideal_acc_0.025: 0.7879, per_task/push_buttons_rot_ideal_acc_0.05: 0.7879, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0177, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5866, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5866, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2093, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3023, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5349, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3023, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5349, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0065, per_task/put_item_in_drawer_quat_l1_err: 0.2714, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2714, per_task/put_item_in_drawer_pos_acc_0.01: 0.8605, per_task/put_item_in_drawer_rot_acc_0.025: 0.6279, per_task/put_item_in_drawer_rot_acc_0.05: 0.8023, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6279, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.8023, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0089, per_task/put_money_in_safe_quat_l1_err: 0.2953, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2953, per_task/put_money_in_safe_pos_acc_0.01: 0.6579, per_task/put_money_in_safe_rot_acc_0.025: 0.0526, per_task/put_money_in_safe_rot_acc_0.05: 0.3947, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0526, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3947, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0069, per_task/reach_and_drag_quat_l1_err: 0.3410, per_task/reach_and_drag_quat_l1_ideal_err: 0.3410, per_task/reach_and_drag_pos_acc_0.01: 0.7917, per_task/reach_and_drag_rot_acc_0.025: 0.2292, per_task/reach_and_drag_rot_acc_0.05: 0.3958, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2292, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3958, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0082, per_task/slide_block_to_color_target_quat_l1_err: 0.5330, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5330, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7407, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2593, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4444, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2593, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4444, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0091, per_task/stack_blocks_quat_l1_err: 0.3815, per_task/stack_blocks_quat_l1_ideal_err: 0.3815, per_task/stack_blocks_pos_acc_0.01: 0.7244, per_task/stack_blocks_rot_acc_0.025: 0.5064, per_task/stack_blocks_rot_acc_0.05: 0.6410, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5064, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6410, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0092, per_task/stack_cups_quat_l1_err: 0.1571, per_task/stack_cups_quat_l1_ideal_err: 0.1571, per_task/stack_cups_pos_acc_0.01: 0.6517, per_task/stack_cups_rot_acc_0.025: 0.4944, per_task/stack_cups_rot_acc_0.05: 0.7079, per_task/stack_cups_rot_ideal_acc_0.025: 0.4944, per_task/stack_cups_rot_ideal_acc_0.05: 0.7079, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0343, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3633, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3633, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.5476, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6905, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6905, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6905, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6905, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0077, per_task/turn_tap_quat_l1_err: 1.8628, per_task/turn_tap_quat_l1_ideal_err: 1.8628, per_task/turn_tap_pos_acc_0.01: 0.7500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9375, per_task/turn_tap_open_acc_ideal: 0.9375 +04/29/2025 04:50:11 - INFO - __main__ - =============================================== +04/29/2025 04:57:01 - INFO - __main__ - ==============Epoch 373 Step 44500=============== +04/29/2025 04:57:01 - INFO - __main__ - loss_pos:0.1080, loss_rot:0.2407, loss_open:0.0059, loss_total:2.4059 +04/29/2025 04:57:01 - INFO - __main__ - =============================================== +04/29/2025 05:03:56 - INFO - __main__ - ==============Epoch 378 Step 45000=============== +04/29/2025 05:03:56 - INFO - __main__ - loss_pos:0.1075, loss_rot:0.2405, loss_open:0.0076, loss_total:2.3973 +04/29/2025 05:03:56 - INFO - __main__ - =============================================== +04/29/2025 05:04:27 - INFO - __main__ - =================Validation================= +04/29/2025 05:04:27 - INFO - __main__ - total/pos_l2_err: 0.0107, total/quat_l1_err: 0.4053, total/quat_l1_ideal_err: 0.4053, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.6460, total/rot_acc_0.025: 0.4460, total/rot_acc_0.05: 0.6090, total/rot_ideal_acc_0.025: 0.4460, total/rot_ideal_acc_0.05: 0.6090, per_task/close_jar_pos_l2_err: 0.0098, per_task/close_jar_quat_l1_err: 0.1808, per_task/close_jar_quat_l1_ideal_err: 0.1808, per_task/close_jar_pos_acc_0.01: 0.5682, per_task/close_jar_rot_acc_0.025: 0.5455, per_task/close_jar_rot_acc_0.05: 0.6364, per_task/close_jar_rot_ideal_acc_0.025: 0.5455, per_task/close_jar_rot_ideal_acc_0.05: 0.6364, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0090, per_task/insert_onto_square_peg_quat_l1_err: 0.4742, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4742, per_task/insert_onto_square_peg_pos_acc_0.01: 0.6591, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3636, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5227, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3636, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5227, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0092, per_task/light_bulb_in_quat_l1_err: 0.4504, per_task/light_bulb_in_quat_l1_ideal_err: 0.4504, per_task/light_bulb_in_pos_acc_0.01: 0.6667, per_task/light_bulb_in_rot_acc_0.025: 0.4921, per_task/light_bulb_in_rot_acc_0.05: 0.5079, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4921, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5079, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0087, per_task/meat_off_grill_quat_l1_err: 0.4666, per_task/meat_off_grill_quat_l1_ideal_err: 0.4666, per_task/meat_off_grill_pos_acc_0.01: 0.7812, per_task/meat_off_grill_rot_acc_0.025: 0.5312, per_task/meat_off_grill_rot_acc_0.05: 0.6875, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5312, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6875, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0132, per_task/place_cups_quat_l1_err: 0.3720, per_task/place_cups_quat_l1_ideal_err: 0.3720, per_task/place_cups_pos_acc_0.01: 0.6475, per_task/place_cups_rot_acc_0.025: 0.3279, per_task/place_cups_rot_acc_0.05: 0.6639, per_task/place_cups_rot_ideal_acc_0.025: 0.3279, per_task/place_cups_rot_ideal_acc_0.05: 0.6639, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0098, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3948, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3948, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6087, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3913, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5217, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3913, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5217, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0097, per_task/place_wine_at_rack_location_quat_l1_err: 1.0091, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0091, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5870, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2391, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3043, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2391, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3043, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0165, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6344, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6344, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2895, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4211, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5526, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4211, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5526, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0073, per_task/put_item_in_drawer_quat_l1_err: 0.3396, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3396, per_task/put_item_in_drawer_pos_acc_0.01: 0.8365, per_task/put_item_in_drawer_rot_acc_0.025: 0.5096, per_task/put_item_in_drawer_rot_acc_0.05: 0.7500, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5096, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7500, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0118, per_task/put_money_in_safe_quat_l1_err: 0.3638, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3638, per_task/put_money_in_safe_pos_acc_0.01: 0.5588, per_task/put_money_in_safe_rot_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_acc_0.05: 0.3529, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3529, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0068, per_task/reach_and_drag_quat_l1_err: 0.1956, per_task/reach_and_drag_quat_l1_ideal_err: 0.1956, per_task/reach_and_drag_pos_acc_0.01: 0.8438, per_task/reach_and_drag_rot_acc_0.025: 0.3281, per_task/reach_and_drag_rot_acc_0.05: 0.6094, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3281, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.6094, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0109, per_task/stack_blocks_quat_l1_err: 0.3627, per_task/stack_blocks_quat_l1_ideal_err: 0.3627, per_task/stack_blocks_pos_acc_0.01: 0.5177, per_task/stack_blocks_rot_acc_0.025: 0.5461, per_task/stack_blocks_rot_acc_0.05: 0.6454, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5461, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6454, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0144, per_task/stack_cups_quat_l1_err: 0.1746, per_task/stack_cups_quat_l1_ideal_err: 0.1741, per_task/stack_cups_pos_acc_0.01: 0.5765, per_task/stack_cups_rot_acc_0.025: 0.5529, per_task/stack_cups_rot_acc_0.05: 0.7176, per_task/stack_cups_rot_ideal_acc_0.025: 0.5529, per_task/stack_cups_rot_ideal_acc_0.05: 0.7176, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0173, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3368, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3368, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7838, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7027, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7027, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7027, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7027, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0068, per_task/turn_tap_quat_l1_err: 2.0457, per_task/turn_tap_quat_l1_ideal_err: 2.0457, per_task/turn_tap_pos_acc_0.01: 0.8125, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9375, per_task/turn_tap_open_acc_ideal: 0.9375, per_task/open_drawer_pos_l2_err: 0.0055, per_task/open_drawer_quat_l1_err: 0.7868, per_task/open_drawer_quat_l1_ideal_err: 0.7868, per_task/open_drawer_pos_acc_0.01: 0.8889, per_task/open_drawer_rot_acc_0.025: 0.5000, per_task/open_drawer_rot_acc_0.05: 0.6667, per_task/open_drawer_rot_ideal_acc_0.025: 0.5000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6667, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0100, per_task/push_buttons_quat_l1_err: 0.0299, per_task/push_buttons_quat_l1_ideal_err: 0.0299, per_task/push_buttons_pos_acc_0.01: 0.5714, per_task/push_buttons_rot_acc_0.025: 0.7714, per_task/push_buttons_rot_acc_0.05: 0.7714, per_task/push_buttons_rot_ideal_acc_0.025: 0.7714, per_task/push_buttons_rot_ideal_acc_0.05: 0.7714, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0095, per_task/slide_block_to_color_target_quat_l1_err: 0.4051, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4051, per_task/slide_block_to_color_target_pos_acc_0.01: 0.6452, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3871, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5806, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3871, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5806, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000 +04/29/2025 05:04:27 - INFO - __main__ - =============================================== +04/29/2025 05:11:20 - INFO - __main__ - ==============Epoch 382 Step 45500=============== +04/29/2025 05:11:20 - INFO - __main__ - loss_pos:0.1067, loss_rot:0.2393, loss_open:0.0042, loss_total:2.3773 +04/29/2025 05:11:20 - INFO - __main__ - =============================================== +04/29/2025 05:18:12 - INFO - __main__ - ==============Epoch 386 Step 46000=============== +04/29/2025 05:18:12 - INFO - __main__ - loss_pos:0.1067, loss_rot:0.2345, loss_open:0.0045, loss_total:2.3739 +04/29/2025 05:18:12 - INFO - __main__ - =============================================== +04/29/2025 05:18:43 - INFO - __main__ - =================Validation================= +04/29/2025 05:18:43 - INFO - __main__ - total/pos_l2_err: 0.0098, total/quat_l1_err: 0.3942, total/quat_l1_ideal_err: 0.3942, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.7700, total/rot_acc_0.025: 0.4400, total/rot_acc_0.05: 0.6210, total/rot_ideal_acc_0.025: 0.4400, total/rot_ideal_acc_0.05: 0.6210, per_task/close_jar_pos_l2_err: 0.0079, per_task/close_jar_quat_l1_err: 0.2781, per_task/close_jar_quat_l1_ideal_err: 0.2781, per_task/close_jar_pos_acc_0.01: 0.8049, per_task/close_jar_rot_acc_0.025: 0.5366, per_task/close_jar_rot_acc_0.05: 0.6341, per_task/close_jar_rot_ideal_acc_0.025: 0.5366, per_task/close_jar_rot_ideal_acc_0.05: 0.6341, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0060, per_task/insert_onto_square_peg_quat_l1_err: 0.3965, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3965, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9118, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5588, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6471, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5588, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6471, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0074, per_task/light_bulb_in_quat_l1_err: 0.5619, per_task/light_bulb_in_quat_l1_ideal_err: 0.5619, per_task/light_bulb_in_pos_acc_0.01: 0.7931, per_task/light_bulb_in_rot_acc_0.025: 0.4483, per_task/light_bulb_in_rot_acc_0.05: 0.5517, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4483, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5517, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0056, per_task/meat_off_grill_quat_l1_err: 0.2003, per_task/meat_off_grill_quat_l1_ideal_err: 0.2003, per_task/meat_off_grill_pos_acc_0.01: 0.9268, per_task/meat_off_grill_rot_acc_0.025: 0.7561, per_task/meat_off_grill_rot_acc_0.05: 0.8293, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7561, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8293, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0080, per_task/open_drawer_quat_l1_err: 0.8525, per_task/open_drawer_quat_l1_ideal_err: 0.8525, per_task/open_drawer_pos_acc_0.01: 0.8929, per_task/open_drawer_rot_acc_0.025: 0.3571, per_task/open_drawer_rot_acc_0.05: 0.5357, per_task/open_drawer_rot_ideal_acc_0.025: 0.3571, per_task/open_drawer_rot_ideal_acc_0.05: 0.5357, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0107, per_task/place_cups_quat_l1_err: 0.3184, per_task/place_cups_quat_l1_ideal_err: 0.3184, per_task/place_cups_pos_acc_0.01: 0.6881, per_task/place_cups_rot_acc_0.025: 0.1835, per_task/place_cups_rot_acc_0.05: 0.6972, per_task/place_cups_rot_ideal_acc_0.025: 0.1835, per_task/place_cups_rot_ideal_acc_0.05: 0.6972, per_task/place_cups_open_acc: 0.9908, per_task/place_cups_open_acc_ideal: 0.9908, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0087, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4174, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4174, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6531, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5306, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6735, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5306, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6735, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0071, per_task/place_wine_at_rack_location_quat_l1_err: 0.6857, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6857, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8182, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3864, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.5227, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3864, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.5227, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0075, per_task/push_buttons_quat_l1_err: 0.0352, per_task/push_buttons_quat_l1_ideal_err: 0.0352, per_task/push_buttons_pos_acc_0.01: 0.7619, per_task/push_buttons_rot_acc_0.025: 0.7381, per_task/push_buttons_rot_acc_0.05: 0.7381, per_task/push_buttons_rot_ideal_acc_0.025: 0.7381, per_task/push_buttons_rot_ideal_acc_0.05: 0.7381, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0161, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6786, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6786, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2500, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3864, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4545, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3864, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4545, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0058, per_task/put_item_in_drawer_quat_l1_err: 0.4793, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4793, per_task/put_item_in_drawer_pos_acc_0.01: 0.9200, per_task/put_item_in_drawer_rot_acc_0.025: 0.4900, per_task/put_item_in_drawer_rot_acc_0.05: 0.6500, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4900, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6500, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0092, per_task/put_money_in_safe_quat_l1_err: 0.2374, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2374, per_task/put_money_in_safe_pos_acc_0.01: 0.6809, per_task/put_money_in_safe_rot_acc_0.025: 0.0638, per_task/put_money_in_safe_rot_acc_0.05: 0.5957, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0638, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5957, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0061, per_task/reach_and_drag_quat_l1_err: 0.4526, per_task/reach_and_drag_quat_l1_ideal_err: 0.4526, per_task/reach_and_drag_pos_acc_0.01: 0.8500, per_task/reach_and_drag_rot_acc_0.025: 0.2250, per_task/reach_and_drag_rot_acc_0.05: 0.4000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2250, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0084, per_task/slide_block_to_color_target_quat_l1_err: 0.5028, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5028, per_task/slide_block_to_color_target_pos_acc_0.01: 0.6429, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4286, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4286, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0071, per_task/stack_blocks_quat_l1_err: 0.2861, per_task/stack_blocks_quat_l1_ideal_err: 0.2861, per_task/stack_blocks_pos_acc_0.01: 0.8207, per_task/stack_blocks_rot_acc_0.025: 0.5241, per_task/stack_blocks_rot_acc_0.05: 0.6828, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5241, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6828, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0075, per_task/stack_cups_quat_l1_err: 0.1533, per_task/stack_cups_quat_l1_ideal_err: 0.1533, per_task/stack_cups_pos_acc_0.01: 0.7912, per_task/stack_cups_rot_acc_0.025: 0.4615, per_task/stack_cups_rot_acc_0.05: 0.6264, per_task/stack_cups_rot_ideal_acc_0.025: 0.4615, per_task/stack_cups_rot_ideal_acc_0.05: 0.6264, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0476, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3106, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3106, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7333, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0070, per_task/turn_tap_quat_l1_err: 1.9483, per_task/turn_tap_quat_l1_ideal_err: 1.9483, per_task/turn_tap_pos_acc_0.01: 0.7857, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 05:18:43 - INFO - __main__ - =============================================== +04/29/2025 05:25:38 - INFO - __main__ - ==============Epoch 390 Step 46500=============== +04/29/2025 05:25:38 - INFO - __main__ - loss_pos:0.1065, loss_rot:0.2319, loss_open:0.0047, loss_total:2.3675 +04/29/2025 05:25:38 - INFO - __main__ - =============================================== +04/29/2025 05:32:30 - INFO - __main__ - ==============Epoch 394 Step 47000=============== +04/29/2025 05:32:30 - INFO - __main__ - loss_pos:0.1066, loss_rot:0.2283, loss_open:0.0057, loss_total:2.3652 +04/29/2025 05:32:30 - INFO - __main__ - =============================================== +04/29/2025 05:33:01 - INFO - __main__ - =================Validation================= +04/29/2025 05:33:02 - INFO - __main__ - total/pos_l2_err: 0.0103, total/quat_l1_err: 0.4044, total/quat_l1_ideal_err: 0.4045, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.7160, total/rot_acc_0.025: 0.4320, total/rot_acc_0.05: 0.6000, total/rot_ideal_acc_0.025: 0.4310, total/rot_ideal_acc_0.05: 0.6000, per_task/close_jar_pos_l2_err: 0.0074, per_task/close_jar_quat_l1_err: 0.2518, per_task/close_jar_quat_l1_ideal_err: 0.2518, per_task/close_jar_pos_acc_0.01: 0.7907, per_task/close_jar_rot_acc_0.025: 0.5116, per_task/close_jar_rot_acc_0.05: 0.5581, per_task/close_jar_rot_ideal_acc_0.025: 0.5116, per_task/close_jar_rot_ideal_acc_0.05: 0.5581, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0080, per_task/insert_onto_square_peg_quat_l1_err: 0.4438, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4438, per_task/insert_onto_square_peg_pos_acc_0.01: 0.7647, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5686, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5686, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0066, per_task/light_bulb_in_quat_l1_err: 0.4420, per_task/light_bulb_in_quat_l1_ideal_err: 0.4420, per_task/light_bulb_in_pos_acc_0.01: 0.8491, per_task/light_bulb_in_rot_acc_0.025: 0.4906, per_task/light_bulb_in_rot_acc_0.05: 0.4906, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4906, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4906, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0069, per_task/meat_off_grill_quat_l1_err: 0.0713, per_task/meat_off_grill_quat_l1_ideal_err: 0.0713, per_task/meat_off_grill_pos_acc_0.01: 0.8444, per_task/meat_off_grill_rot_acc_0.025: 0.8000, per_task/meat_off_grill_rot_acc_0.05: 0.9111, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.8000, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.9111, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0068, per_task/open_drawer_quat_l1_err: 0.7610, per_task/open_drawer_quat_l1_ideal_err: 0.7610, per_task/open_drawer_pos_acc_0.01: 0.8800, per_task/open_drawer_rot_acc_0.025: 0.3200, per_task/open_drawer_rot_acc_0.05: 0.6000, per_task/open_drawer_rot_ideal_acc_0.025: 0.3200, per_task/open_drawer_rot_ideal_acc_0.05: 0.6000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0100, per_task/place_cups_quat_l1_err: 0.4226, per_task/place_cups_quat_l1_ideal_err: 0.4226, per_task/place_cups_pos_acc_0.01: 0.7500, per_task/place_cups_rot_acc_0.025: 0.1750, per_task/place_cups_rot_acc_0.05: 0.6083, per_task/place_cups_rot_ideal_acc_0.025: 0.1750, per_task/place_cups_rot_ideal_acc_0.05: 0.6083, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0117, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4928, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4928, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.5385, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4423, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4423, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0110, per_task/place_wine_at_rack_location_quat_l1_err: 1.0556, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0556, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5192, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2115, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3462, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2115, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3462, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0077, per_task/push_buttons_quat_l1_err: 0.0419, per_task/push_buttons_quat_l1_ideal_err: 0.0419, per_task/push_buttons_pos_acc_0.01: 0.8214, per_task/push_buttons_rot_acc_0.025: 0.6786, per_task/push_buttons_rot_acc_0.05: 0.6786, per_task/push_buttons_rot_ideal_acc_0.025: 0.6786, per_task/push_buttons_rot_ideal_acc_0.05: 0.6786, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0152, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4266, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4266, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.2609, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3696, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5870, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3696, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5870, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0071, per_task/put_item_in_drawer_quat_l1_err: 0.3910, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3913, per_task/put_item_in_drawer_pos_acc_0.01: 0.8105, per_task/put_item_in_drawer_rot_acc_0.025: 0.5158, per_task/put_item_in_drawer_rot_acc_0.05: 0.7053, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5053, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7053, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0102, per_task/put_money_in_safe_quat_l1_err: 0.3153, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3153, per_task/put_money_in_safe_pos_acc_0.01: 0.5833, per_task/put_money_in_safe_rot_acc_0.025: 0.0417, per_task/put_money_in_safe_rot_acc_0.05: 0.5208, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0417, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5208, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0061, per_task/reach_and_drag_quat_l1_err: 0.2819, per_task/reach_and_drag_quat_l1_ideal_err: 0.2819, per_task/reach_and_drag_pos_acc_0.01: 0.9038, per_task/reach_and_drag_rot_acc_0.025: 0.3846, per_task/reach_and_drag_rot_acc_0.05: 0.5577, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3846, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5577, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0099, per_task/stack_blocks_quat_l1_err: 0.3424, per_task/stack_blocks_quat_l1_ideal_err: 0.3424, per_task/stack_blocks_pos_acc_0.01: 0.6812, per_task/stack_blocks_rot_acc_0.025: 0.5725, per_task/stack_blocks_rot_acc_0.05: 0.6667, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5725, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6667, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0085, per_task/stack_cups_quat_l1_err: 0.1001, per_task/stack_cups_quat_l1_ideal_err: 0.1001, per_task/stack_cups_pos_acc_0.01: 0.7436, per_task/stack_cups_rot_acc_0.025: 0.4487, per_task/stack_cups_rot_acc_0.05: 0.6282, per_task/stack_cups_rot_ideal_acc_0.025: 0.4487, per_task/stack_cups_rot_ideal_acc_0.05: 0.6282, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0462, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2304, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2304, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.6486, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7838, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7838, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7838, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7838, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0064, per_task/turn_tap_quat_l1_err: 2.0573, per_task/turn_tap_quat_l1_ideal_err: 2.0573, per_task/turn_tap_pos_acc_0.01: 0.9333, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9333, per_task/turn_tap_open_acc_ideal: 0.9333, per_task/slide_block_to_color_target_pos_l2_err: 0.0076, per_task/slide_block_to_color_target_quat_l1_err: 0.5407, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5407, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7273, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4545, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4545, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000 +04/29/2025 05:33:02 - INFO - __main__ - =============================================== +04/29/2025 05:39:55 - INFO - __main__ - ==============Epoch 399 Step 47500=============== +04/29/2025 05:39:55 - INFO - __main__ - loss_pos:0.1060, loss_rot:0.2268, loss_open:0.0041, loss_total:2.3510 +04/29/2025 05:39:55 - INFO - __main__ - =============================================== +04/29/2025 05:46:49 - INFO - __main__ - ==============Epoch 403 Step 48000=============== +04/29/2025 05:46:50 - INFO - __main__ - loss_pos:0.1054, loss_rot:0.2248, loss_open:0.0027, loss_total:2.3361 +04/29/2025 05:46:50 - INFO - __main__ - =============================================== +04/29/2025 05:47:22 - INFO - __main__ - =================Validation================= +04/29/2025 05:47:22 - INFO - __main__ - total/pos_l2_err: 0.0097, total/quat_l1_err: 0.4046, total/quat_l1_ideal_err: 0.4046, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.7629, total/rot_acc_0.025: 0.4208, total/rot_acc_0.05: 0.5792, total/rot_ideal_acc_0.025: 0.4208, total/rot_ideal_acc_0.05: 0.5792, per_task/close_jar_pos_l2_err: 0.0080, per_task/close_jar_quat_l1_err: 0.2162, per_task/close_jar_quat_l1_ideal_err: 0.2162, per_task/close_jar_pos_acc_0.01: 0.7347, per_task/close_jar_rot_acc_0.025: 0.4898, per_task/close_jar_rot_acc_0.05: 0.6531, per_task/close_jar_rot_ideal_acc_0.025: 0.4898, per_task/close_jar_rot_ideal_acc_0.05: 0.6531, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0071, per_task/insert_onto_square_peg_quat_l1_err: 0.5826, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5826, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8462, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3077, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4872, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3077, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4872, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0060, per_task/light_bulb_in_quat_l1_err: 0.4189, per_task/light_bulb_in_quat_l1_ideal_err: 0.4189, per_task/light_bulb_in_pos_acc_0.01: 0.8906, per_task/light_bulb_in_rot_acc_0.025: 0.5000, per_task/light_bulb_in_rot_acc_0.05: 0.5469, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5469, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0052, per_task/meat_off_grill_quat_l1_err: 0.2319, per_task/meat_off_grill_quat_l1_ideal_err: 0.2319, per_task/meat_off_grill_pos_acc_0.01: 0.9677, per_task/meat_off_grill_rot_acc_0.025: 0.7097, per_task/meat_off_grill_rot_acc_0.05: 0.7419, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7097, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7419, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0074, per_task/open_drawer_quat_l1_err: 0.6175, per_task/open_drawer_quat_l1_ideal_err: 0.6175, per_task/open_drawer_pos_acc_0.01: 0.7826, per_task/open_drawer_rot_acc_0.025: 0.5652, per_task/open_drawer_rot_acc_0.05: 0.6957, per_task/open_drawer_rot_ideal_acc_0.025: 0.5652, per_task/open_drawer_rot_ideal_acc_0.05: 0.6957, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0101, per_task/place_cups_quat_l1_err: 0.4352, per_task/place_cups_quat_l1_ideal_err: 0.4352, per_task/place_cups_pos_acc_0.01: 0.8073, per_task/place_cups_rot_acc_0.025: 0.2202, per_task/place_cups_rot_acc_0.05: 0.5963, per_task/place_cups_rot_ideal_acc_0.025: 0.2202, per_task/place_cups_rot_ideal_acc_0.05: 0.5963, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0095, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5465, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5465, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6111, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3889, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3889, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0105, per_task/place_wine_at_rack_location_quat_l1_err: 0.8132, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8132, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5098, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3529, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3922, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3529, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3922, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0082, per_task/push_buttons_quat_l1_err: 0.0339, per_task/push_buttons_quat_l1_ideal_err: 0.0339, per_task/push_buttons_pos_acc_0.01: 0.7778, per_task/push_buttons_rot_acc_0.025: 0.7407, per_task/push_buttons_rot_acc_0.05: 0.7407, per_task/push_buttons_rot_ideal_acc_0.025: 0.7407, per_task/push_buttons_rot_ideal_acc_0.05: 0.7407, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0142, per_task/put_groceries_in_cupboard_quat_l1_err: 0.3771, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.3771, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.3784, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4595, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6757, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4595, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6757, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0062, per_task/put_item_in_drawer_quat_l1_err: 0.4158, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4158, per_task/put_item_in_drawer_pos_acc_0.01: 0.8876, per_task/put_item_in_drawer_rot_acc_0.025: 0.5281, per_task/put_item_in_drawer_rot_acc_0.05: 0.6966, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5281, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6966, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0078, per_task/put_money_in_safe_quat_l1_err: 0.2886, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2886, per_task/put_money_in_safe_pos_acc_0.01: 0.8158, per_task/put_money_in_safe_rot_acc_0.025: 0.0263, per_task/put_money_in_safe_rot_acc_0.05: 0.3684, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0263, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3684, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0065, per_task/reach_and_drag_quat_l1_err: 0.3334, per_task/reach_and_drag_quat_l1_ideal_err: 0.3334, per_task/reach_and_drag_pos_acc_0.01: 0.7925, per_task/reach_and_drag_rot_acc_0.025: 0.2264, per_task/reach_and_drag_rot_acc_0.05: 0.4717, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2264, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4717, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0091, per_task/slide_block_to_color_target_quat_l1_err: 0.5076, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5076, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7857, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3929, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3929, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0086, per_task/stack_blocks_quat_l1_err: 0.3414, per_task/stack_blocks_quat_l1_ideal_err: 0.3414, per_task/stack_blocks_pos_acc_0.01: 0.7000, per_task/stack_blocks_rot_acc_0.025: 0.5214, per_task/stack_blocks_rot_acc_0.05: 0.6571, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5214, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6571, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0078, per_task/stack_cups_quat_l1_err: 0.1171, per_task/stack_cups_quat_l1_ideal_err: 0.1171, per_task/stack_cups_pos_acc_0.01: 0.7927, per_task/stack_cups_rot_acc_0.025: 0.3902, per_task/stack_cups_rot_acc_0.05: 0.5244, per_task/stack_cups_rot_ideal_acc_0.025: 0.3902, per_task/stack_cups_rot_ideal_acc_0.05: 0.5244, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0439, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2494, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2494, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7250, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7250, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7250, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7250, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7250, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0062, per_task/turn_tap_quat_l1_err: 1.9612, per_task/turn_tap_quat_l1_ideal_err: 1.9612, per_task/turn_tap_pos_acc_0.01: 0.9412, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9412, per_task/turn_tap_open_acc_ideal: 0.9412 +04/29/2025 05:47:22 - INFO - __main__ - =============================================== +04/29/2025 05:54:12 - INFO - __main__ - ==============Epoch 407 Step 48500=============== +04/29/2025 05:54:12 - INFO - __main__ - loss_pos:0.1055, loss_rot:0.2273, loss_open:0.0048, loss_total:2.3425 +04/29/2025 05:54:12 - INFO - __main__ - =============================================== +04/29/2025 06:01:05 - INFO - __main__ - ==============Epoch 411 Step 49000=============== +04/29/2025 06:01:05 - INFO - __main__ - loss_pos:0.1053, loss_rot:0.2219, loss_open:0.0048, loss_total:2.3317 +04/29/2025 06:01:05 - INFO - __main__ - =============================================== +04/29/2025 06:01:36 - INFO - __main__ - =================Validation================= +04/29/2025 06:01:36 - INFO - __main__ - total/pos_l2_err: 0.0113, total/quat_l1_err: 0.3889, total/quat_l1_ideal_err: 0.3889, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.6220, total/rot_acc_0.025: 0.4070, total/rot_acc_0.05: 0.6000, total/rot_ideal_acc_0.025: 0.4070, total/rot_ideal_acc_0.05: 0.6000, per_task/close_jar_pos_l2_err: 0.0114, per_task/close_jar_quat_l1_err: 0.3033, per_task/close_jar_quat_l1_ideal_err: 0.3033, per_task/close_jar_pos_acc_0.01: 0.4630, per_task/close_jar_rot_acc_0.025: 0.3704, per_task/close_jar_rot_acc_0.05: 0.4259, per_task/close_jar_rot_ideal_acc_0.025: 0.3704, per_task/close_jar_rot_ideal_acc_0.05: 0.4259, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0102, per_task/insert_onto_square_peg_quat_l1_err: 0.3822, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3822, per_task/insert_onto_square_peg_pos_acc_0.01: 0.5625, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4375, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5833, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4375, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5833, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0088, per_task/light_bulb_in_quat_l1_err: 0.4125, per_task/light_bulb_in_quat_l1_ideal_err: 0.4125, per_task/light_bulb_in_pos_acc_0.01: 0.7937, per_task/light_bulb_in_rot_acc_0.025: 0.5714, per_task/light_bulb_in_rot_acc_0.05: 0.6190, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5714, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6190, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0078, per_task/meat_off_grill_quat_l1_err: 0.1821, per_task/meat_off_grill_quat_l1_ideal_err: 0.1821, per_task/meat_off_grill_pos_acc_0.01: 0.8108, per_task/meat_off_grill_rot_acc_0.025: 0.7027, per_task/meat_off_grill_rot_acc_0.05: 0.8378, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7027, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8378, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0066, per_task/open_drawer_quat_l1_err: 0.8634, per_task/open_drawer_quat_l1_ideal_err: 0.8634, per_task/open_drawer_pos_acc_0.01: 0.8947, per_task/open_drawer_rot_acc_0.025: 0.4737, per_task/open_drawer_rot_acc_0.05: 0.5789, per_task/open_drawer_rot_ideal_acc_0.025: 0.4737, per_task/open_drawer_rot_ideal_acc_0.05: 0.5789, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0096, per_task/place_cups_quat_l1_err: 0.3179, per_task/place_cups_quat_l1_ideal_err: 0.3179, per_task/place_cups_pos_acc_0.01: 0.7037, per_task/place_cups_rot_acc_0.025: 0.1481, per_task/place_cups_rot_acc_0.05: 0.6481, per_task/place_cups_rot_ideal_acc_0.025: 0.1481, per_task/place_cups_rot_ideal_acc_0.05: 0.6481, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0102, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5295, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5295, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.5625, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4375, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4375, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0105, per_task/place_wine_at_rack_location_quat_l1_err: 1.0411, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0411, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.5455, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1818, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2955, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1818, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2955, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0094, per_task/push_buttons_quat_l1_err: 0.0412, per_task/push_buttons_quat_l1_ideal_err: 0.0412, per_task/push_buttons_pos_acc_0.01: 0.6341, per_task/push_buttons_rot_acc_0.025: 0.6829, per_task/push_buttons_rot_acc_0.05: 0.6829, per_task/push_buttons_rot_ideal_acc_0.025: 0.6829, per_task/push_buttons_rot_ideal_acc_0.05: 0.6829, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0170, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6308, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6308, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.1892, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.1622, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5946, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.1622, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5946, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0081, per_task/put_item_in_drawer_quat_l1_err: 0.4069, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4069, per_task/put_item_in_drawer_pos_acc_0.01: 0.7556, per_task/put_item_in_drawer_rot_acc_0.025: 0.5222, per_task/put_item_in_drawer_rot_acc_0.05: 0.7333, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5222, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7333, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0142, per_task/put_money_in_safe_quat_l1_err: 0.2446, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2446, per_task/put_money_in_safe_pos_acc_0.01: 0.5417, per_task/put_money_in_safe_rot_acc_0.025: 0.0417, per_task/put_money_in_safe_rot_acc_0.05: 0.5833, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0417, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5833, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0071, per_task/reach_and_drag_quat_l1_err: 0.3047, per_task/reach_and_drag_quat_l1_ideal_err: 0.3047, per_task/reach_and_drag_pos_acc_0.01: 0.8030, per_task/reach_and_drag_rot_acc_0.025: 0.2576, per_task/reach_and_drag_rot_acc_0.05: 0.4697, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2576, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4697, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0099, per_task/slide_block_to_color_target_quat_l1_err: 0.4716, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4716, per_task/slide_block_to_color_target_pos_acc_0.01: 0.5625, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4062, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5938, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4062, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5938, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0105, per_task/stack_blocks_quat_l1_err: 0.3154, per_task/stack_blocks_quat_l1_ideal_err: 0.3154, per_task/stack_blocks_pos_acc_0.01: 0.5070, per_task/stack_blocks_rot_acc_0.025: 0.5352, per_task/stack_blocks_rot_acc_0.05: 0.6831, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5352, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6831, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0087, per_task/stack_cups_quat_l1_err: 0.1654, per_task/stack_cups_quat_l1_ideal_err: 0.1654, per_task/stack_cups_pos_acc_0.01: 0.7037, per_task/stack_cups_rot_acc_0.025: 0.5062, per_task/stack_cups_rot_acc_0.05: 0.6296, per_task/stack_cups_rot_ideal_acc_0.025: 0.5062, per_task/stack_cups_rot_ideal_acc_0.05: 0.6296, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0461, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1569, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1569, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.3846, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6923, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6923, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6923, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6923, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0093, per_task/turn_tap_quat_l1_err: 1.8429, per_task/turn_tap_quat_l1_ideal_err: 1.8429, per_task/turn_tap_pos_acc_0.01: 0.6842, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.8947, per_task/turn_tap_open_acc_ideal: 0.8947 +04/29/2025 06:01:36 - INFO - __main__ - =============================================== +04/29/2025 06:08:27 - INFO - __main__ - ==============Epoch 415 Step 49500=============== +04/29/2025 06:08:28 - INFO - __main__ - loss_pos:0.1054, loss_rot:0.2212, loss_open:0.0043, loss_total:2.3325 +04/29/2025 06:08:28 - INFO - __main__ - =============================================== +04/29/2025 06:15:26 - INFO - __main__ - ==============Epoch 420 Step 50000=============== +04/29/2025 06:15:26 - INFO - __main__ - loss_pos:0.1048, loss_rot:0.2200, loss_open:0.0062, loss_total:2.3229 +04/29/2025 06:15:26 - INFO - __main__ - =============================================== +04/29/2025 06:15:57 - INFO - __main__ - =================Validation================= +04/29/2025 06:15:57 - INFO - __main__ - total/pos_l2_err: 0.0083, total/quat_l1_err: 0.3915, total/quat_l1_ideal_err: 0.3915, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.8160, total/rot_acc_0.025: 0.4290, total/rot_acc_0.05: 0.5870, total/rot_ideal_acc_0.025: 0.4290, total/rot_ideal_acc_0.05: 0.5870, per_task/close_jar_pos_l2_err: 0.0065, per_task/close_jar_quat_l1_err: 0.2452, per_task/close_jar_quat_l1_ideal_err: 0.2452, per_task/close_jar_pos_acc_0.01: 0.8214, per_task/close_jar_rot_acc_0.025: 0.5000, per_task/close_jar_rot_acc_0.05: 0.5536, per_task/close_jar_rot_ideal_acc_0.025: 0.5000, per_task/close_jar_rot_ideal_acc_0.05: 0.5536, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0058, per_task/insert_onto_square_peg_quat_l1_err: 0.3528, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3528, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9149, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5319, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6596, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5319, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6596, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0058, per_task/light_bulb_in_quat_l1_err: 0.4518, per_task/light_bulb_in_quat_l1_ideal_err: 0.4518, per_task/light_bulb_in_pos_acc_0.01: 0.9016, per_task/light_bulb_in_rot_acc_0.025: 0.5902, per_task/light_bulb_in_rot_acc_0.05: 0.6066, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5902, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6066, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0051, per_task/meat_off_grill_quat_l1_err: 0.2509, per_task/meat_off_grill_quat_l1_ideal_err: 0.2509, per_task/meat_off_grill_pos_acc_0.01: 0.9730, per_task/meat_off_grill_rot_acc_0.025: 0.7838, per_task/meat_off_grill_rot_acc_0.05: 0.7838, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7838, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7838, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0072, per_task/open_drawer_quat_l1_err: 1.0554, per_task/open_drawer_quat_l1_ideal_err: 1.0554, per_task/open_drawer_pos_acc_0.01: 0.9500, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.4500, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.4500, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0085, per_task/place_cups_quat_l1_err: 0.4257, per_task/place_cups_quat_l1_ideal_err: 0.4257, per_task/place_cups_pos_acc_0.01: 0.7969, per_task/place_cups_rot_acc_0.025: 0.1562, per_task/place_cups_rot_acc_0.05: 0.5938, per_task/place_cups_rot_ideal_acc_0.025: 0.1562, per_task/place_cups_rot_ideal_acc_0.05: 0.5938, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0075, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3466, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3466, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7556, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4889, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5556, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4889, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5556, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0120, per_task/place_wine_at_rack_location_quat_l1_err: 1.0672, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0672, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.3714, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2571, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3143, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2571, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3143, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0054, per_task/push_buttons_quat_l1_err: 0.0277, per_task/push_buttons_quat_l1_ideal_err: 0.0277, per_task/push_buttons_pos_acc_0.01: 0.9737, per_task/push_buttons_rot_acc_0.025: 0.7895, per_task/push_buttons_rot_acc_0.05: 0.7895, per_task/push_buttons_rot_ideal_acc_0.025: 0.7895, per_task/push_buttons_rot_ideal_acc_0.05: 0.7895, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0149, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5123, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5123, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.3095, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4048, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5238, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4048, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5238, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0054, per_task/put_item_in_drawer_quat_l1_err: 0.4708, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4708, per_task/put_item_in_drawer_pos_acc_0.01: 0.9804, per_task/put_item_in_drawer_rot_acc_0.025: 0.4510, per_task/put_item_in_drawer_rot_acc_0.05: 0.6373, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4510, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6373, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0093, per_task/put_money_in_safe_quat_l1_err: 0.2189, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2189, per_task/put_money_in_safe_pos_acc_0.01: 0.7292, per_task/put_money_in_safe_rot_acc_0.025: 0.1458, per_task/put_money_in_safe_rot_acc_0.05: 0.5000, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.1458, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5000, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0058, per_task/reach_and_drag_quat_l1_err: 0.2981, per_task/reach_and_drag_quat_l1_ideal_err: 0.2981, per_task/reach_and_drag_pos_acc_0.01: 0.8846, per_task/reach_and_drag_rot_acc_0.025: 0.2885, per_task/reach_and_drag_rot_acc_0.05: 0.5000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2885, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0056, per_task/slide_block_to_color_target_quat_l1_err: 0.2779, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.2779, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9500, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5500, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6500, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5500, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6500, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0067, per_task/stack_blocks_quat_l1_err: 0.4125, per_task/stack_blocks_quat_l1_ideal_err: 0.4125, per_task/stack_blocks_pos_acc_0.01: 0.8440, per_task/stack_blocks_rot_acc_0.025: 0.4752, per_task/stack_blocks_rot_acc_0.05: 0.6099, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4752, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6099, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0079, per_task/stack_cups_quat_l1_err: 0.0812, per_task/stack_cups_quat_l1_ideal_err: 0.0812, per_task/stack_cups_pos_acc_0.01: 0.7595, per_task/stack_cups_rot_acc_0.025: 0.4051, per_task/stack_cups_rot_acc_0.05: 0.5443, per_task/stack_cups_rot_ideal_acc_0.025: 0.4051, per_task/stack_cups_rot_ideal_acc_0.05: 0.5443, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0352, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1260, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1260, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8056, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8056, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8056, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8056, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8056, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0067, per_task/turn_tap_quat_l1_err: 1.8878, per_task/turn_tap_quat_l1_ideal_err: 1.8878, per_task/turn_tap_pos_acc_0.01: 0.7692, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 06:15:57 - INFO - __main__ - =============================================== +04/29/2025 06:22:51 - INFO - __main__ - ==============Epoch 424 Step 50500=============== +04/29/2025 06:22:51 - INFO - __main__ - loss_pos:0.1047, loss_rot:0.2223, loss_open:0.0038, loss_total:2.3209 +04/29/2025 06:22:51 - INFO - __main__ - =============================================== +04/29/2025 06:29:43 - INFO - __main__ - ==============Epoch 428 Step 51000=============== +04/29/2025 06:29:43 - INFO - __main__ - loss_pos:0.1048, loss_rot:0.2147, loss_open:0.0048, loss_total:2.3151 +04/29/2025 06:29:43 - INFO - __main__ - =============================================== +04/29/2025 06:30:14 - INFO - __main__ - =================Validation================= +04/29/2025 06:30:14 - INFO - __main__ - total/pos_l2_err: 0.0089, total/quat_l1_err: 0.3727, total/quat_l1_ideal_err: 0.3727, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.7910, total/rot_acc_0.025: 0.4500, total/rot_acc_0.05: 0.6260, total/rot_ideal_acc_0.025: 0.4500, total/rot_ideal_acc_0.05: 0.6260, per_task/close_jar_pos_l2_err: 0.0082, per_task/close_jar_quat_l1_err: 0.3613, per_task/close_jar_quat_l1_ideal_err: 0.3613, per_task/close_jar_pos_acc_0.01: 0.6875, per_task/close_jar_rot_acc_0.025: 0.4062, per_task/close_jar_rot_acc_0.05: 0.5312, per_task/close_jar_rot_ideal_acc_0.025: 0.4062, per_task/close_jar_rot_ideal_acc_0.05: 0.5312, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0058, per_task/insert_onto_square_peg_quat_l1_err: 0.3148, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3148, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8780, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5366, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6829, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5366, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6829, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0060, per_task/light_bulb_in_quat_l1_err: 0.3066, per_task/light_bulb_in_quat_l1_ideal_err: 0.3066, per_task/light_bulb_in_pos_acc_0.01: 0.8824, per_task/light_bulb_in_rot_acc_0.025: 0.5882, per_task/light_bulb_in_rot_acc_0.05: 0.6275, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5882, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6275, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0046, per_task/meat_off_grill_quat_l1_err: 0.1863, per_task/meat_off_grill_quat_l1_ideal_err: 0.1863, per_task/meat_off_grill_pos_acc_0.01: 0.9744, per_task/meat_off_grill_rot_acc_0.025: 0.7949, per_task/meat_off_grill_rot_acc_0.05: 0.8718, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7949, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8718, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0085, per_task/open_drawer_quat_l1_err: 0.5238, per_task/open_drawer_quat_l1_ideal_err: 0.5238, per_task/open_drawer_pos_acc_0.01: 0.7143, per_task/open_drawer_rot_acc_0.025: 0.4286, per_task/open_drawer_rot_acc_0.05: 0.6786, per_task/open_drawer_rot_ideal_acc_0.025: 0.4286, per_task/open_drawer_rot_ideal_acc_0.05: 0.6786, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0097, per_task/place_cups_quat_l1_err: 0.4225, per_task/place_cups_quat_l1_ideal_err: 0.4225, per_task/place_cups_pos_acc_0.01: 0.7792, per_task/place_cups_rot_acc_0.025: 0.2468, per_task/place_cups_rot_acc_0.05: 0.6039, per_task/place_cups_rot_ideal_acc_0.025: 0.2468, per_task/place_cups_rot_ideal_acc_0.05: 0.6039, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0092, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3019, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3019, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6154, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5385, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6667, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5385, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6667, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0083, per_task/place_wine_at_rack_location_quat_l1_err: 0.8096, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8096, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.6667, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3333, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4222, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3333, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4222, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0064, per_task/push_buttons_quat_l1_err: 0.0403, per_task/push_buttons_quat_l1_ideal_err: 0.0403, per_task/push_buttons_pos_acc_0.01: 0.9048, per_task/push_buttons_rot_acc_0.025: 0.6905, per_task/push_buttons_rot_acc_0.05: 0.6905, per_task/push_buttons_rot_ideal_acc_0.025: 0.6905, per_task/push_buttons_rot_ideal_acc_0.05: 0.6905, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0110, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4333, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4333, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.4857, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.5714, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6857, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.5714, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6857, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0070, per_task/put_item_in_drawer_quat_l1_err: 0.2962, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2962, per_task/put_item_in_drawer_pos_acc_0.01: 0.8252, per_task/put_item_in_drawer_rot_acc_0.025: 0.5728, per_task/put_item_in_drawer_rot_acc_0.05: 0.7767, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5728, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7767, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0083, per_task/put_money_in_safe_quat_l1_err: 0.3210, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3210, per_task/put_money_in_safe_pos_acc_0.01: 0.7568, per_task/put_money_in_safe_rot_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_acc_0.05: 0.5405, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5405, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0069, per_task/reach_and_drag_quat_l1_err: 0.3746, per_task/reach_and_drag_quat_l1_ideal_err: 0.3746, per_task/reach_and_drag_pos_acc_0.01: 0.7442, per_task/reach_and_drag_rot_acc_0.025: 0.2093, per_task/reach_and_drag_rot_acc_0.05: 0.4186, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2093, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4186, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0088, per_task/slide_block_to_color_target_quat_l1_err: 0.5573, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5573, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7037, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5185, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5185, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0068, per_task/stack_blocks_quat_l1_err: 0.3995, per_task/stack_blocks_quat_l1_ideal_err: 0.3995, per_task/stack_blocks_pos_acc_0.01: 0.8504, per_task/stack_blocks_rot_acc_0.025: 0.5039, per_task/stack_blocks_rot_acc_0.05: 0.6063, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5039, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6063, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0100, per_task/stack_cups_quat_l1_err: 0.1130, per_task/stack_cups_quat_l1_ideal_err: 0.1130, per_task/stack_cups_pos_acc_0.01: 0.7895, per_task/stack_cups_rot_acc_0.025: 0.4737, per_task/stack_cups_rot_acc_0.05: 0.6737, per_task/stack_cups_rot_ideal_acc_0.025: 0.4737, per_task/stack_cups_rot_ideal_acc_0.05: 0.6737, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0289, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3344, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3344, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8696, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6957, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6957, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6957, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6957, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0064, per_task/turn_tap_quat_l1_err: 1.8870, per_task/turn_tap_quat_l1_ideal_err: 1.8870, per_task/turn_tap_pos_acc_0.01: 0.8750, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9375, per_task/turn_tap_open_acc_ideal: 0.9375 +04/29/2025 06:30:14 - INFO - __main__ - =============================================== +04/29/2025 06:37:09 - INFO - __main__ - ==============Epoch 432 Step 51500=============== +04/29/2025 06:37:09 - INFO - __main__ - loss_pos:0.1046, loss_rot:0.2170, loss_open:0.0037, loss_total:2.3122 +04/29/2025 06:37:09 - INFO - __main__ - =============================================== +04/29/2025 06:44:00 - INFO - __main__ - ==============Epoch 436 Step 52000=============== +04/29/2025 06:44:01 - INFO - __main__ - loss_pos:0.1044, loss_rot:0.2134, loss_open:0.0043, loss_total:2.3055 +04/29/2025 06:44:01 - INFO - __main__ - =============================================== +04/29/2025 06:44:32 - INFO - __main__ - =================Validation================= +04/29/2025 06:44:32 - INFO - __main__ - total/pos_l2_err: 0.0077, total/quat_l1_err: 0.3727, total/quat_l1_ideal_err: 0.3727, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.8390, total/rot_acc_0.025: 0.4490, total/rot_acc_0.05: 0.6330, total/rot_ideal_acc_0.025: 0.4490, total/rot_ideal_acc_0.05: 0.6330, per_task/close_jar_pos_l2_err: 0.0059, per_task/close_jar_quat_l1_err: 0.1484, per_task/close_jar_quat_l1_ideal_err: 0.1484, per_task/close_jar_pos_acc_0.01: 0.8750, per_task/close_jar_rot_acc_0.025: 0.6458, per_task/close_jar_rot_acc_0.05: 0.7292, per_task/close_jar_rot_ideal_acc_0.025: 0.6458, per_task/close_jar_rot_ideal_acc_0.05: 0.7292, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0069, per_task/insert_onto_square_peg_quat_l1_err: 0.4367, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4367, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8333, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4167, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5833, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4167, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5833, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0066, per_task/light_bulb_in_quat_l1_err: 0.2542, per_task/light_bulb_in_quat_l1_ideal_err: 0.2542, per_task/light_bulb_in_pos_acc_0.01: 0.8621, per_task/light_bulb_in_rot_acc_0.025: 0.5862, per_task/light_bulb_in_rot_acc_0.05: 0.6379, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5862, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6379, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0053, per_task/meat_off_grill_quat_l1_err: 0.1188, per_task/meat_off_grill_quat_l1_ideal_err: 0.1188, per_task/meat_off_grill_pos_acc_0.01: 0.9787, per_task/meat_off_grill_rot_acc_0.025: 0.8298, per_task/meat_off_grill_rot_acc_0.05: 0.8723, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.8298, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8723, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0058, per_task/open_drawer_quat_l1_err: 0.7623, per_task/open_drawer_quat_l1_ideal_err: 0.7623, per_task/open_drawer_pos_acc_0.01: 0.9677, per_task/open_drawer_rot_acc_0.025: 0.3871, per_task/open_drawer_rot_acc_0.05: 0.5806, per_task/open_drawer_rot_ideal_acc_0.025: 0.3871, per_task/open_drawer_rot_ideal_acc_0.05: 0.5806, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0083, per_task/place_cups_quat_l1_err: 0.4134, per_task/place_cups_quat_l1_ideal_err: 0.4134, per_task/place_cups_pos_acc_0.01: 0.8000, per_task/place_cups_rot_acc_0.025: 0.1680, per_task/place_cups_rot_acc_0.05: 0.6480, per_task/place_cups_rot_ideal_acc_0.025: 0.1680, per_task/place_cups_rot_ideal_acc_0.05: 0.6480, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0077, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5475, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5475, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6744, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2791, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4651, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2791, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4651, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0079, per_task/place_wine_at_rack_location_quat_l1_err: 0.5922, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.5922, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.6889, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3333, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4444, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3333, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4444, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0072, per_task/push_buttons_quat_l1_err: 0.0318, per_task/push_buttons_quat_l1_ideal_err: 0.0318, per_task/push_buttons_pos_acc_0.01: 0.7027, per_task/push_buttons_rot_acc_0.025: 0.7568, per_task/push_buttons_rot_acc_0.05: 0.7568, per_task/push_buttons_rot_ideal_acc_0.025: 0.7568, per_task/push_buttons_rot_ideal_acc_0.05: 0.7568, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0112, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5079, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5079, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5333, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3333, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3333, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0051, per_task/put_item_in_drawer_quat_l1_err: 0.2758, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2758, per_task/put_item_in_drawer_pos_acc_0.01: 0.9767, per_task/put_item_in_drawer_rot_acc_0.025: 0.6163, per_task/put_item_in_drawer_rot_acc_0.05: 0.8023, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6163, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.8023, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0084, per_task/put_money_in_safe_quat_l1_err: 0.2695, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2695, per_task/put_money_in_safe_pos_acc_0.01: 0.7805, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.4878, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4878, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0070, per_task/slide_block_to_color_target_quat_l1_err: 0.4425, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4425, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8286, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4571, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5714, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4571, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5714, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0067, per_task/stack_blocks_quat_l1_err: 0.4385, per_task/stack_blocks_quat_l1_ideal_err: 0.4385, per_task/stack_blocks_pos_acc_0.01: 0.8924, per_task/stack_blocks_rot_acc_0.025: 0.4937, per_task/stack_blocks_rot_acc_0.05: 0.6203, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4937, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6203, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0067, per_task/stack_cups_quat_l1_err: 0.2154, per_task/stack_cups_quat_l1_ideal_err: 0.2154, per_task/stack_cups_pos_acc_0.01: 0.8333, per_task/stack_cups_rot_acc_0.025: 0.5139, per_task/stack_cups_rot_acc_0.05: 0.6389, per_task/stack_cups_rot_ideal_acc_0.025: 0.5139, per_task/stack_cups_rot_ideal_acc_0.05: 0.6389, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0050, per_task/turn_tap_quat_l1_err: 2.0184, per_task/turn_tap_quat_l1_ideal_err: 2.0184, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0054, per_task/reach_and_drag_quat_l1_err: 0.2366, per_task/reach_and_drag_quat_l1_ideal_err: 0.2366, per_task/reach_and_drag_pos_acc_0.01: 0.9412, per_task/reach_and_drag_rot_acc_0.025: 0.2941, per_task/reach_and_drag_rot_acc_0.05: 0.5588, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2941, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5588, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0218, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2702, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2702, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8723, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7021, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7021, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7021, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7021, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000 +04/29/2025 06:44:32 - INFO - __main__ - =============================================== +04/29/2025 06:51:28 - INFO - __main__ - ==============Epoch 441 Step 52500=============== +04/29/2025 06:51:28 - INFO - __main__ - loss_pos:0.1040, loss_rot:0.2130, loss_open:0.0045, loss_total:2.2968 +04/29/2025 06:51:28 - INFO - __main__ - =============================================== +04/29/2025 06:58:17 - INFO - __main__ - ==============Epoch 445 Step 53000=============== +04/29/2025 06:58:17 - INFO - __main__ - loss_pos:0.1038, loss_rot:0.2115, loss_open:0.0032, loss_total:2.2914 +04/29/2025 06:58:17 - INFO - __main__ - =============================================== +04/29/2025 06:58:47 - INFO - __main__ - =================Validation================= +04/29/2025 06:58:47 - INFO - __main__ - total/pos_l2_err: 0.0081, total/quat_l1_err: 0.4044, total/quat_l1_ideal_err: 0.4044, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.7960, total/rot_acc_0.025: 0.4640, total/rot_acc_0.05: 0.6140, total/rot_ideal_acc_0.025: 0.4640, total/rot_ideal_acc_0.05: 0.6140, per_task/close_jar_pos_l2_err: 0.0072, per_task/close_jar_quat_l1_err: 0.1350, per_task/close_jar_quat_l1_ideal_err: 0.1350, per_task/close_jar_pos_acc_0.01: 0.7872, per_task/close_jar_rot_acc_0.025: 0.6596, per_task/close_jar_rot_acc_0.05: 0.7660, per_task/close_jar_rot_ideal_acc_0.025: 0.6596, per_task/close_jar_rot_ideal_acc_0.05: 0.7660, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0056, per_task/insert_onto_square_peg_quat_l1_err: 0.4449, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4449, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9697, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5455, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6061, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5455, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6061, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0070, per_task/light_bulb_in_quat_l1_err: 0.5086, per_task/light_bulb_in_quat_l1_ideal_err: 0.5086, per_task/light_bulb_in_pos_acc_0.01: 0.8493, per_task/light_bulb_in_rot_acc_0.025: 0.5890, per_task/light_bulb_in_rot_acc_0.05: 0.5890, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5890, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5890, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0059, per_task/meat_off_grill_quat_l1_err: 0.1532, per_task/meat_off_grill_quat_l1_ideal_err: 0.1532, per_task/meat_off_grill_pos_acc_0.01: 0.8919, per_task/meat_off_grill_rot_acc_0.025: 0.6757, per_task/meat_off_grill_rot_acc_0.05: 0.8108, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6757, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8108, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0074, per_task/open_drawer_quat_l1_err: 1.0063, per_task/open_drawer_quat_l1_ideal_err: 1.0063, per_task/open_drawer_pos_acc_0.01: 0.8571, per_task/open_drawer_rot_acc_0.025: 0.4286, per_task/open_drawer_rot_acc_0.05: 0.5238, per_task/open_drawer_rot_ideal_acc_0.025: 0.4286, per_task/open_drawer_rot_ideal_acc_0.05: 0.5238, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0097, per_task/place_cups_quat_l1_err: 0.4420, per_task/place_cups_quat_l1_ideal_err: 0.4420, per_task/place_cups_pos_acc_0.01: 0.7647, per_task/place_cups_rot_acc_0.025: 0.3235, per_task/place_cups_rot_acc_0.05: 0.6397, per_task/place_cups_rot_ideal_acc_0.025: 0.3235, per_task/place_cups_rot_ideal_acc_0.05: 0.6397, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0101, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3915, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3915, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.6154, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4423, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5962, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4423, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5962, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0079, per_task/place_wine_at_rack_location_quat_l1_err: 0.8018, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8018, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.6757, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2432, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3784, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2432, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3784, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0068, per_task/push_buttons_quat_l1_err: 0.0383, per_task/push_buttons_quat_l1_ideal_err: 0.0383, per_task/push_buttons_pos_acc_0.01: 0.8235, per_task/push_buttons_rot_acc_0.025: 0.7059, per_task/push_buttons_rot_acc_0.05: 0.7059, per_task/push_buttons_rot_ideal_acc_0.025: 0.7059, per_task/push_buttons_rot_ideal_acc_0.05: 0.7059, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0128, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6711, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6711, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.4545, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2727, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4773, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2727, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4773, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0066, per_task/put_item_in_drawer_quat_l1_err: 0.3250, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3250, per_task/put_item_in_drawer_pos_acc_0.01: 0.8791, per_task/put_item_in_drawer_rot_acc_0.025: 0.5275, per_task/put_item_in_drawer_rot_acc_0.05: 0.7692, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5275, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7692, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0077, per_task/put_money_in_safe_quat_l1_err: 0.2703, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2703, per_task/put_money_in_safe_pos_acc_0.01: 0.8108, per_task/put_money_in_safe_rot_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_acc_0.05: 0.5135, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5135, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0061, per_task/reach_and_drag_quat_l1_err: 0.2609, per_task/reach_and_drag_quat_l1_ideal_err: 0.2609, per_task/reach_and_drag_pos_acc_0.01: 0.9200, per_task/reach_and_drag_rot_acc_0.025: 0.3000, per_task/reach_and_drag_rot_acc_0.05: 0.5000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0082, per_task/slide_block_to_color_target_quat_l1_err: 0.5192, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5192, per_task/slide_block_to_color_target_pos_acc_0.01: 0.6552, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4138, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5172, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4138, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5172, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0071, per_task/stack_blocks_quat_l1_err: 0.4101, per_task/stack_blocks_quat_l1_ideal_err: 0.4101, per_task/stack_blocks_pos_acc_0.01: 0.8258, per_task/stack_blocks_rot_acc_0.025: 0.5806, per_task/stack_blocks_rot_acc_0.05: 0.6387, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5806, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6387, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0069, per_task/stack_cups_quat_l1_err: 0.1465, per_task/stack_cups_quat_l1_ideal_err: 0.1465, per_task/stack_cups_pos_acc_0.01: 0.8533, per_task/stack_cups_rot_acc_0.025: 0.4800, per_task/stack_cups_rot_acc_0.05: 0.6000, per_task/stack_cups_rot_ideal_acc_0.025: 0.4800, per_task/stack_cups_rot_ideal_acc_0.05: 0.6000, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0166, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3420, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3420, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7838, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6486, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6486, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6486, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6486, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0087, per_task/turn_tap_quat_l1_err: 1.9691, per_task/turn_tap_quat_l1_ideal_err: 1.9691, per_task/turn_tap_pos_acc_0.01: 0.7500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 06:58:47 - INFO - __main__ - =============================================== +04/29/2025 07:05:40 - INFO - __main__ - ==============Epoch 449 Step 53500=============== +04/29/2025 07:05:40 - INFO - __main__ - loss_pos:0.1034, loss_rot:0.2055, loss_open:0.0030, loss_total:2.2761 +04/29/2025 07:05:40 - INFO - __main__ - =============================================== +04/29/2025 07:12:34 - INFO - __main__ - ==============Epoch 453 Step 54000=============== +04/29/2025 07:12:34 - INFO - __main__ - loss_pos:0.1035, loss_rot:0.2089, loss_open:0.0034, loss_total:2.2823 +04/29/2025 07:12:34 - INFO - __main__ - =============================================== +04/29/2025 07:13:05 - INFO - __main__ - =================Validation================= +04/29/2025 07:13:05 - INFO - __main__ - total/pos_l2_err: 0.0078, total/quat_l1_err: 0.4177, total/quat_l1_ideal_err: 0.4177, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.8070, total/rot_acc_0.025: 0.4310, total/rot_acc_0.05: 0.6050, total/rot_ideal_acc_0.025: 0.4310, total/rot_ideal_acc_0.05: 0.6050, per_task/close_jar_pos_l2_err: 0.0068, per_task/close_jar_quat_l1_err: 0.2681, per_task/close_jar_quat_l1_ideal_err: 0.2681, per_task/close_jar_pos_acc_0.01: 0.8431, per_task/close_jar_rot_acc_0.025: 0.5490, per_task/close_jar_rot_acc_0.05: 0.6078, per_task/close_jar_rot_ideal_acc_0.025: 0.5490, per_task/close_jar_rot_ideal_acc_0.05: 0.6078, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0059, per_task/insert_onto_square_peg_quat_l1_err: 0.3988, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3988, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9444, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4815, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6481, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4815, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6481, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0079, per_task/light_bulb_in_quat_l1_err: 0.5018, per_task/light_bulb_in_quat_l1_ideal_err: 0.5018, per_task/light_bulb_in_pos_acc_0.01: 0.8235, per_task/light_bulb_in_rot_acc_0.025: 0.5882, per_task/light_bulb_in_rot_acc_0.05: 0.6078, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5882, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6078, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0059, per_task/meat_off_grill_quat_l1_err: 0.0524, per_task/meat_off_grill_quat_l1_ideal_err: 0.0524, per_task/meat_off_grill_pos_acc_0.01: 0.9000, per_task/meat_off_grill_rot_acc_0.025: 0.8750, per_task/meat_off_grill_rot_acc_0.05: 0.9000, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.8750, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.9000, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0063, per_task/open_drawer_quat_l1_err: 0.7933, per_task/open_drawer_quat_l1_ideal_err: 0.7933, per_task/open_drawer_pos_acc_0.01: 0.9524, per_task/open_drawer_rot_acc_0.025: 0.1905, per_task/open_drawer_rot_acc_0.05: 0.6190, per_task/open_drawer_rot_ideal_acc_0.025: 0.1905, per_task/open_drawer_rot_ideal_acc_0.05: 0.6190, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0088, per_task/place_cups_quat_l1_err: 0.4764, per_task/place_cups_quat_l1_ideal_err: 0.4764, per_task/place_cups_pos_acc_0.01: 0.7895, per_task/place_cups_rot_acc_0.025: 0.2180, per_task/place_cups_rot_acc_0.05: 0.5865, per_task/place_cups_rot_ideal_acc_0.025: 0.2180, per_task/place_cups_rot_ideal_acc_0.05: 0.5865, per_task/place_cups_open_acc: 0.9925, per_task/place_cups_open_acc_ideal: 0.9925, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0077, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5498, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5498, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7826, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3478, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5652, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3478, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5652, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0097, per_task/place_wine_at_rack_location_quat_l1_err: 1.0063, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0063, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.4667, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2889, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2889, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4000, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0065, per_task/push_buttons_quat_l1_err: 0.0190, per_task/push_buttons_quat_l1_ideal_err: 0.0190, per_task/push_buttons_pos_acc_0.01: 0.8571, per_task/push_buttons_rot_acc_0.025: 0.8571, per_task/push_buttons_rot_acc_0.05: 0.8571, per_task/push_buttons_rot_ideal_acc_0.025: 0.8571, per_task/push_buttons_rot_ideal_acc_0.05: 0.8571, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0133, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4166, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4166, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.3778, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.5111, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6222, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.5111, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6222, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0047, per_task/put_item_in_drawer_quat_l1_err: 0.4515, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4515, per_task/put_item_in_drawer_pos_acc_0.01: 0.9565, per_task/put_item_in_drawer_rot_acc_0.025: 0.4457, per_task/put_item_in_drawer_rot_acc_0.05: 0.6957, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4457, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6957, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0081, per_task/put_money_in_safe_quat_l1_err: 0.3684, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3684, per_task/put_money_in_safe_pos_acc_0.01: 0.7059, per_task/put_money_in_safe_rot_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_acc_0.05: 0.3529, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3529, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0073, per_task/reach_and_drag_quat_l1_err: 0.2737, per_task/reach_and_drag_quat_l1_ideal_err: 0.2737, per_task/reach_and_drag_pos_acc_0.01: 0.8333, per_task/reach_and_drag_rot_acc_0.025: 0.2222, per_task/reach_and_drag_rot_acc_0.05: 0.4444, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2222, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4444, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0081, per_task/slide_block_to_color_target_quat_l1_err: 0.4638, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4638, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7778, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3889, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4722, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3889, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4722, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0069, per_task/stack_blocks_quat_l1_err: 0.3354, per_task/stack_blocks_quat_l1_ideal_err: 0.3354, per_task/stack_blocks_pos_acc_0.01: 0.8182, per_task/stack_blocks_rot_acc_0.025: 0.5606, per_task/stack_blocks_rot_acc_0.05: 0.6515, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5606, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6515, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0064, per_task/stack_cups_quat_l1_err: 0.1274, per_task/stack_cups_quat_l1_ideal_err: 0.1274, per_task/stack_cups_pos_acc_0.01: 0.8571, per_task/stack_cups_rot_acc_0.025: 0.4286, per_task/stack_cups_rot_acc_0.05: 0.6786, per_task/stack_cups_rot_ideal_acc_0.025: 0.4286, per_task/stack_cups_rot_ideal_acc_0.05: 0.6786, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0156, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4398, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4398, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8780, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6098, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6098, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6098, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6098, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0063, per_task/turn_tap_quat_l1_err: 2.0269, per_task/turn_tap_quat_l1_ideal_err: 2.0269, per_task/turn_tap_pos_acc_0.01: 0.8462, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 07:13:05 - INFO - __main__ - =============================================== +04/29/2025 07:19:57 - INFO - __main__ - ==============Epoch 457 Step 54500=============== +04/29/2025 07:19:57 - INFO - __main__ - loss_pos:0.1034, loss_rot:0.2095, loss_open:0.0039, loss_total:2.2823 +04/29/2025 07:19:57 - INFO - __main__ - =============================================== +04/29/2025 07:26:51 - INFO - __main__ - ==============Epoch 462 Step 55000=============== +04/29/2025 07:26:51 - INFO - __main__ - loss_pos:0.1029, loss_rot:0.2065, loss_open:0.0039, loss_total:2.2688 +04/29/2025 07:26:51 - INFO - __main__ - =============================================== +04/29/2025 07:27:23 - INFO - __main__ - =================Validation================= +04/29/2025 07:27:23 - INFO - __main__ - total/pos_l2_err: 0.0077, total/quat_l1_err: 0.4124, total/quat_l1_ideal_err: 0.4124, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.8540, total/rot_acc_0.025: 0.4500, total/rot_acc_0.05: 0.6100, total/rot_ideal_acc_0.025: 0.4500, total/rot_ideal_acc_0.05: 0.6100, per_task/close_jar_pos_l2_err: 0.0060, per_task/close_jar_quat_l1_err: 0.2155, per_task/close_jar_quat_l1_ideal_err: 0.2155, per_task/close_jar_pos_acc_0.01: 0.8444, per_task/close_jar_rot_acc_0.025: 0.6222, per_task/close_jar_rot_acc_0.05: 0.6667, per_task/close_jar_rot_ideal_acc_0.025: 0.6222, per_task/close_jar_rot_ideal_acc_0.05: 0.6667, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0058, per_task/insert_onto_square_peg_quat_l1_err: 0.3289, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3289, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8947, per_task/insert_onto_square_peg_rot_acc_0.025: 0.6842, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7632, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.6842, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7632, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0051, per_task/light_bulb_in_quat_l1_err: 0.4384, per_task/light_bulb_in_quat_l1_ideal_err: 0.4384, per_task/light_bulb_in_pos_acc_0.01: 0.9524, per_task/light_bulb_in_rot_acc_0.025: 0.4921, per_task/light_bulb_in_rot_acc_0.05: 0.4921, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4921, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4921, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0062, per_task/meat_off_grill_quat_l1_err: 0.3005, per_task/meat_off_grill_quat_l1_ideal_err: 0.3005, per_task/meat_off_grill_pos_acc_0.01: 0.9000, per_task/meat_off_grill_rot_acc_0.025: 0.7750, per_task/meat_off_grill_rot_acc_0.05: 0.8500, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7750, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8500, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0046, per_task/open_drawer_quat_l1_err: 0.7377, per_task/open_drawer_quat_l1_ideal_err: 0.7377, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4138, per_task/open_drawer_rot_acc_0.05: 0.6207, per_task/open_drawer_rot_ideal_acc_0.025: 0.4138, per_task/open_drawer_rot_ideal_acc_0.05: 0.6207, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0087, per_task/place_cups_quat_l1_err: 0.4414, per_task/place_cups_quat_l1_ideal_err: 0.4414, per_task/place_cups_pos_acc_0.01: 0.8190, per_task/place_cups_rot_acc_0.025: 0.1714, per_task/place_cups_rot_acc_0.05: 0.6000, per_task/place_cups_rot_ideal_acc_0.025: 0.1714, per_task/place_cups_rot_ideal_acc_0.05: 0.6000, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0072, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5560, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5560, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7647, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3333, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4706, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3333, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4706, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0066, per_task/place_wine_at_rack_location_quat_l1_err: 0.8788, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8788, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8475, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2542, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4237, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2542, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4237, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0084, per_task/push_buttons_quat_l1_err: 0.0432, per_task/push_buttons_quat_l1_ideal_err: 0.0432, per_task/push_buttons_pos_acc_0.01: 0.6667, per_task/push_buttons_rot_acc_0.025: 0.6667, per_task/push_buttons_rot_acc_0.05: 0.6667, per_task/push_buttons_rot_ideal_acc_0.025: 0.6667, per_task/push_buttons_rot_ideal_acc_0.05: 0.6667, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0133, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5677, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5677, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.3846, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4615, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6410, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4615, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6410, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0050, per_task/put_item_in_drawer_quat_l1_err: 0.2701, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2701, per_task/put_item_in_drawer_pos_acc_0.01: 0.9558, per_task/put_item_in_drawer_rot_acc_0.025: 0.6195, per_task/put_item_in_drawer_rot_acc_0.05: 0.7699, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6195, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7699, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0070, per_task/put_money_in_safe_quat_l1_err: 0.2100, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2100, per_task/put_money_in_safe_pos_acc_0.01: 0.7949, per_task/put_money_in_safe_rot_acc_0.025: 0.0256, per_task/put_money_in_safe_rot_acc_0.05: 0.4872, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0256, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4872, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0053, per_task/reach_and_drag_quat_l1_err: 0.2952, per_task/reach_and_drag_quat_l1_ideal_err: 0.2952, per_task/reach_and_drag_pos_acc_0.01: 0.9286, per_task/reach_and_drag_rot_acc_0.025: 0.2679, per_task/reach_and_drag_rot_acc_0.05: 0.4464, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2679, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4464, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0072, per_task/slide_block_to_color_target_quat_l1_err: 0.6933, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6933, per_task/slide_block_to_color_target_pos_acc_0.01: 0.7778, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3704, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4444, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3704, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4444, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0059, per_task/stack_blocks_quat_l1_err: 0.4244, per_task/stack_blocks_quat_l1_ideal_err: 0.4244, per_task/stack_blocks_pos_acc_0.01: 0.8729, per_task/stack_blocks_rot_acc_0.025: 0.5424, per_task/stack_blocks_rot_acc_0.05: 0.6441, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5424, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6441, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0060, per_task/stack_cups_quat_l1_err: 0.1482, per_task/stack_cups_quat_l1_ideal_err: 0.1482, per_task/stack_cups_pos_acc_0.01: 0.8925, per_task/stack_cups_rot_acc_0.025: 0.4624, per_task/stack_cups_rot_acc_0.05: 0.6559, per_task/stack_cups_rot_ideal_acc_0.025: 0.4624, per_task/stack_cups_rot_ideal_acc_0.05: 0.6559, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0321, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3277, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3277, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9048, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7381, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7381, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7381, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7381, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0076, per_task/turn_tap_quat_l1_err: 2.1204, per_task/turn_tap_quat_l1_ideal_err: 2.1204, per_task/turn_tap_pos_acc_0.01: 0.8462, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 07:27:23 - INFO - __main__ - =============================================== +04/29/2025 07:34:14 - INFO - __main__ - ==============Epoch 466 Step 55500=============== +04/29/2025 07:34:14 - INFO - __main__ - loss_pos:0.1029, loss_rot:0.2034, loss_open:0.0029, loss_total:2.2648 +04/29/2025 07:34:14 - INFO - __main__ - =============================================== +04/29/2025 07:41:03 - INFO - __main__ - ==============Epoch 470 Step 56000=============== +04/29/2025 07:41:03 - INFO - __main__ - loss_pos:0.1026, loss_rot:0.2014, loss_open:0.0034, loss_total:2.2565 +04/29/2025 07:41:03 - INFO - __main__ - =============================================== +04/29/2025 07:41:34 - INFO - __main__ - =================Validation================= +04/29/2025 07:41:35 - INFO - __main__ - total/pos_l2_err: 0.0073, total/quat_l1_err: 0.4174, total/quat_l1_ideal_err: 0.4175, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.8420, total/rot_acc_0.025: 0.4320, total/rot_acc_0.05: 0.6060, total/rot_ideal_acc_0.025: 0.4320, total/rot_ideal_acc_0.05: 0.6060, per_task/close_jar_pos_l2_err: 0.0059, per_task/close_jar_quat_l1_err: 0.2647, per_task/close_jar_quat_l1_ideal_err: 0.2647, per_task/close_jar_pos_acc_0.01: 0.8696, per_task/close_jar_rot_acc_0.025: 0.6087, per_task/close_jar_rot_acc_0.05: 0.6522, per_task/close_jar_rot_ideal_acc_0.025: 0.6087, per_task/close_jar_rot_ideal_acc_0.05: 0.6522, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0064, per_task/insert_onto_square_peg_quat_l1_err: 0.3043, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3043, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8205, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5385, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6667, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5385, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6667, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0058, per_task/light_bulb_in_quat_l1_err: 0.4287, per_task/light_bulb_in_quat_l1_ideal_err: 0.4287, per_task/light_bulb_in_pos_acc_0.01: 0.8947, per_task/light_bulb_in_rot_acc_0.025: 0.6316, per_task/light_bulb_in_rot_acc_0.05: 0.6491, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6316, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6491, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0060, per_task/meat_off_grill_quat_l1_err: 0.2383, per_task/meat_off_grill_quat_l1_ideal_err: 0.2383, per_task/meat_off_grill_pos_acc_0.01: 0.9722, per_task/meat_off_grill_rot_acc_0.025: 0.6111, per_task/meat_off_grill_rot_acc_0.05: 0.7778, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6111, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7778, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0055, per_task/open_drawer_quat_l1_err: 0.8446, per_task/open_drawer_quat_l1_ideal_err: 0.8446, per_task/open_drawer_pos_acc_0.01: 0.9600, per_task/open_drawer_rot_acc_0.025: 0.4000, per_task/open_drawer_rot_acc_0.05: 0.6400, per_task/open_drawer_rot_ideal_acc_0.025: 0.4000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6400, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0070, per_task/place_cups_quat_l1_err: 0.4252, per_task/place_cups_quat_l1_ideal_err: 0.4252, per_task/place_cups_pos_acc_0.01: 0.8534, per_task/place_cups_rot_acc_0.025: 0.2241, per_task/place_cups_rot_acc_0.05: 0.6379, per_task/place_cups_rot_ideal_acc_0.025: 0.2241, per_task/place_cups_rot_ideal_acc_0.05: 0.6379, per_task/place_cups_open_acc: 0.9914, per_task/place_cups_open_acc_ideal: 0.9914, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0075, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4072, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4072, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8125, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4167, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4167, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0072, per_task/place_wine_at_rack_location_quat_l1_err: 1.1551, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1551, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8108, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2432, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2703, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2432, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2703, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0060, per_task/push_buttons_quat_l1_err: 0.0251, per_task/push_buttons_quat_l1_ideal_err: 0.0251, per_task/push_buttons_pos_acc_0.01: 0.9286, per_task/push_buttons_rot_acc_0.025: 0.8095, per_task/push_buttons_rot_acc_0.05: 0.8095, per_task/push_buttons_rot_ideal_acc_0.025: 0.8095, per_task/push_buttons_rot_ideal_acc_0.05: 0.8095, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0140, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4834, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4834, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.4231, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3846, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5577, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3846, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5577, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0055, per_task/put_item_in_drawer_quat_l1_err: 0.3678, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3678, per_task/put_item_in_drawer_pos_acc_0.01: 0.9524, per_task/put_item_in_drawer_rot_acc_0.025: 0.4762, per_task/put_item_in_drawer_rot_acc_0.05: 0.7143, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4762, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7143, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0065, per_task/put_money_in_safe_quat_l1_err: 0.2911, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2911, per_task/put_money_in_safe_pos_acc_0.01: 0.8302, per_task/put_money_in_safe_rot_acc_0.025: 0.0377, per_task/put_money_in_safe_rot_acc_0.05: 0.4906, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0377, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4906, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0055, per_task/reach_and_drag_quat_l1_err: 0.3057, per_task/reach_and_drag_quat_l1_ideal_err: 0.3057, per_task/reach_and_drag_pos_acc_0.01: 0.9608, per_task/reach_and_drag_rot_acc_0.025: 0.2353, per_task/reach_and_drag_rot_acc_0.05: 0.4902, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2353, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4902, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0081, per_task/slide_block_to_color_target_quat_l1_err: 0.6454, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6454, per_task/slide_block_to_color_target_pos_acc_0.01: 0.6897, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3793, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3793, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3793, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3793, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0064, per_task/stack_blocks_quat_l1_err: 0.4249, per_task/stack_blocks_quat_l1_ideal_err: 0.4249, per_task/stack_blocks_pos_acc_0.01: 0.8310, per_task/stack_blocks_rot_acc_0.025: 0.5352, per_task/stack_blocks_rot_acc_0.05: 0.6338, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5352, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6338, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0089, per_task/stack_cups_quat_l1_err: 0.1581, per_task/stack_cups_quat_l1_ideal_err: 0.1587, per_task/stack_cups_pos_acc_0.01: 0.7467, per_task/stack_cups_rot_acc_0.025: 0.4533, per_task/stack_cups_rot_acc_0.05: 0.6133, per_task/stack_cups_rot_ideal_acc_0.025: 0.4533, per_task/stack_cups_rot_ideal_acc_0.05: 0.6133, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0167, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3816, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3816, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9091, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6364, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6364, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6364, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6364, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0068, per_task/turn_tap_quat_l1_err: 2.0232, per_task/turn_tap_quat_l1_ideal_err: 2.0232, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 07:41:35 - INFO - __main__ - =============================================== +04/29/2025 07:48:28 - INFO - __main__ - ==============Epoch 474 Step 56500=============== +04/29/2025 07:48:28 - INFO - __main__ - loss_pos:0.1026, loss_rot:0.1988, loss_open:0.0030, loss_total:2.2534 +04/29/2025 07:48:28 - INFO - __main__ - =============================================== +04/29/2025 07:55:23 - INFO - __main__ - ==============Epoch 478 Step 57000=============== +04/29/2025 07:55:23 - INFO - __main__ - loss_pos:0.1021, loss_rot:0.1987, loss_open:0.0032, loss_total:2.2430 +04/29/2025 07:55:23 - INFO - __main__ - =============================================== +04/29/2025 07:55:54 - INFO - __main__ - =================Validation================= +04/29/2025 07:55:54 - INFO - __main__ - total/pos_l2_err: 0.0083, total/quat_l1_err: 0.3977, total/quat_l1_ideal_err: 0.3977, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.8610, total/rot_acc_0.025: 0.4390, total/rot_acc_0.05: 0.5820, total/rot_ideal_acc_0.025: 0.4390, total/rot_ideal_acc_0.05: 0.5820, per_task/close_jar_pos_l2_err: 0.0064, per_task/close_jar_quat_l1_err: 0.1898, per_task/close_jar_quat_l1_ideal_err: 0.1898, per_task/close_jar_pos_acc_0.01: 0.9333, per_task/close_jar_rot_acc_0.025: 0.6000, per_task/close_jar_rot_acc_0.05: 0.7333, per_task/close_jar_rot_ideal_acc_0.025: 0.6000, per_task/close_jar_rot_ideal_acc_0.05: 0.7333, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0064, per_task/insert_onto_square_peg_quat_l1_err: 0.3240, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3240, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9286, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5952, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6429, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5952, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6429, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0051, per_task/light_bulb_in_quat_l1_err: 0.3814, per_task/light_bulb_in_quat_l1_ideal_err: 0.3814, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.5686, per_task/light_bulb_in_rot_acc_0.05: 0.5882, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5686, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5882, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0055, per_task/meat_off_grill_quat_l1_err: 0.3137, per_task/meat_off_grill_quat_l1_ideal_err: 0.3137, per_task/meat_off_grill_pos_acc_0.01: 0.9388, per_task/meat_off_grill_rot_acc_0.025: 0.6531, per_task/meat_off_grill_rot_acc_0.05: 0.7143, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6531, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7143, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0065, per_task/open_drawer_quat_l1_err: 1.0583, per_task/open_drawer_quat_l1_ideal_err: 1.0583, per_task/open_drawer_pos_acc_0.01: 0.8500, per_task/open_drawer_rot_acc_0.025: 0.3500, per_task/open_drawer_rot_acc_0.05: 0.5000, per_task/open_drawer_rot_ideal_acc_0.025: 0.3500, per_task/open_drawer_rot_ideal_acc_0.05: 0.5000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0063, per_task/place_cups_quat_l1_err: 0.4330, per_task/place_cups_quat_l1_ideal_err: 0.4330, per_task/place_cups_pos_acc_0.01: 0.8870, per_task/place_cups_rot_acc_0.025: 0.2261, per_task/place_cups_rot_acc_0.05: 0.5304, per_task/place_cups_rot_ideal_acc_0.025: 0.2261, per_task/place_cups_rot_ideal_acc_0.05: 0.5304, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0078, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4489, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4489, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7857, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4643, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5357, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4643, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5357, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0129, per_task/place_wine_at_rack_location_quat_l1_err: 1.0085, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0085, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3000, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4250, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4250, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0059, per_task/push_buttons_quat_l1_err: 0.0398, per_task/push_buttons_quat_l1_ideal_err: 0.0398, per_task/push_buttons_pos_acc_0.01: 0.8889, per_task/push_buttons_rot_acc_0.025: 0.6944, per_task/push_buttons_rot_acc_0.05: 0.6944, per_task/push_buttons_rot_ideal_acc_0.025: 0.6944, per_task/push_buttons_rot_ideal_acc_0.05: 0.6944, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0126, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6008, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6008, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.4082, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3878, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6122, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3878, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6122, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0052, per_task/put_item_in_drawer_quat_l1_err: 0.3458, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3458, per_task/put_item_in_drawer_pos_acc_0.01: 0.9369, per_task/put_item_in_drawer_rot_acc_0.025: 0.5315, per_task/put_item_in_drawer_rot_acc_0.05: 0.7477, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5315, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7477, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0080, per_task/put_money_in_safe_quat_l1_err: 0.3223, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3223, per_task/put_money_in_safe_pos_acc_0.01: 0.7568, per_task/put_money_in_safe_rot_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_acc_0.05: 0.4054, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0270, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4054, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0044, per_task/reach_and_drag_quat_l1_err: 0.3470, per_task/reach_and_drag_quat_l1_ideal_err: 0.3470, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2037, per_task/reach_and_drag_rot_acc_0.05: 0.2963, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2037, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.2963, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0065, per_task/slide_block_to_color_target_quat_l1_err: 0.3549, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3549, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8824, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5000, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5882, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5882, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0067, per_task/stack_blocks_quat_l1_err: 0.3408, per_task/stack_blocks_quat_l1_ideal_err: 0.3408, per_task/stack_blocks_pos_acc_0.01: 0.8832, per_task/stack_blocks_rot_acc_0.025: 0.5474, per_task/stack_blocks_rot_acc_0.05: 0.6496, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5474, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6496, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0077, per_task/stack_cups_quat_l1_err: 0.1529, per_task/stack_cups_quat_l1_ideal_err: 0.1529, per_task/stack_cups_pos_acc_0.01: 0.7849, per_task/stack_cups_rot_acc_0.025: 0.3441, per_task/stack_cups_rot_acc_0.05: 0.5054, per_task/stack_cups_rot_ideal_acc_0.025: 0.3441, per_task/stack_cups_rot_ideal_acc_0.05: 0.5054, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0256, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3021, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3021, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8095, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6905, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6905, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6905, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6905, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0464, per_task/turn_tap_quat_l1_err: 1.8407, per_task/turn_tap_quat_l1_ideal_err: 1.8407, per_task/turn_tap_pos_acc_0.01: 0.8235, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 07:55:54 - INFO - __main__ - =============================================== +04/29/2025 08:02:54 - INFO - __main__ - ==============Epoch 483 Step 57500=============== +04/29/2025 08:02:54 - INFO - __main__ - loss_pos:0.1019, loss_rot:0.2006, loss_open:0.0030, loss_total:2.2421 +04/29/2025 08:02:54 - INFO - __main__ - =============================================== +04/29/2025 08:09:46 - INFO - __main__ - ==============Epoch 487 Step 58000=============== +04/29/2025 08:09:46 - INFO - __main__ - loss_pos:0.1018, loss_rot:0.1951, loss_open:0.0029, loss_total:2.2345 +04/29/2025 08:09:46 - INFO - __main__ - =============================================== +04/29/2025 08:10:17 - INFO - __main__ - =================Validation================= +04/29/2025 08:10:17 - INFO - __main__ - total/pos_l2_err: 0.0072, total/quat_l1_err: 0.3806, total/quat_l1_ideal_err: 0.3806, total/open_acc: 0.9970, total/open_acc_ideal: 0.9970, total/pos_acc_0.01: 0.8650, total/rot_acc_0.025: 0.4480, total/rot_acc_0.05: 0.6080, total/rot_ideal_acc_0.025: 0.4480, total/rot_ideal_acc_0.05: 0.6080, per_task/close_jar_pos_l2_err: 0.0063, per_task/close_jar_quat_l1_err: 0.1634, per_task/close_jar_quat_l1_ideal_err: 0.1634, per_task/close_jar_pos_acc_0.01: 0.8400, per_task/close_jar_rot_acc_0.025: 0.5600, per_task/close_jar_rot_acc_0.05: 0.7200, per_task/close_jar_rot_ideal_acc_0.025: 0.5600, per_task/close_jar_rot_ideal_acc_0.05: 0.7200, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0056, per_task/insert_onto_square_peg_quat_l1_err: 0.6136, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.6136, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9697, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4545, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4848, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4545, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4848, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0057, per_task/light_bulb_in_quat_l1_err: 0.5572, per_task/light_bulb_in_quat_l1_ideal_err: 0.5572, per_task/light_bulb_in_pos_acc_0.01: 0.9643, per_task/light_bulb_in_rot_acc_0.025: 0.4464, per_task/light_bulb_in_rot_acc_0.05: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4464, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5000, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0053, per_task/meat_off_grill_quat_l1_err: 0.1946, per_task/meat_off_grill_quat_l1_ideal_err: 0.1946, per_task/meat_off_grill_pos_acc_0.01: 0.9423, per_task/meat_off_grill_rot_acc_0.025: 0.7885, per_task/meat_off_grill_rot_acc_0.05: 0.8269, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7885, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8269, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0043, per_task/open_drawer_quat_l1_err: 0.6504, per_task/open_drawer_quat_l1_ideal_err: 0.6504, per_task/open_drawer_pos_acc_0.01: 0.9655, per_task/open_drawer_rot_acc_0.025: 0.5172, per_task/open_drawer_rot_acc_0.05: 0.6897, per_task/open_drawer_rot_ideal_acc_0.025: 0.5172, per_task/open_drawer_rot_ideal_acc_0.05: 0.6897, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0074, per_task/place_cups_quat_l1_err: 0.4603, per_task/place_cups_quat_l1_ideal_err: 0.4603, per_task/place_cups_pos_acc_0.01: 0.8350, per_task/place_cups_rot_acc_0.025: 0.1845, per_task/place_cups_rot_acc_0.05: 0.5631, per_task/place_cups_rot_ideal_acc_0.025: 0.1845, per_task/place_cups_rot_ideal_acc_0.05: 0.5631, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0112, per_task/place_wine_at_rack_location_quat_l1_err: 0.8392, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8392, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.7292, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2708, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3958, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2708, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3958, per_task/place_wine_at_rack_location_open_acc: 0.9792, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9792, per_task/push_buttons_pos_l2_err: 0.0063, per_task/push_buttons_quat_l1_err: 0.0471, per_task/push_buttons_quat_l1_ideal_err: 0.0471, per_task/push_buttons_pos_acc_0.01: 0.8864, per_task/push_buttons_rot_acc_0.025: 0.6364, per_task/push_buttons_rot_acc_0.05: 0.6364, per_task/push_buttons_rot_ideal_acc_0.025: 0.6364, per_task/push_buttons_rot_ideal_acc_0.05: 0.6364, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0119, per_task/put_groceries_in_cupboard_quat_l1_err: 0.2766, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.2766, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.3333, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6222, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6222, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0047, per_task/put_item_in_drawer_quat_l1_err: 0.3361, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3361, per_task/put_item_in_drawer_pos_acc_0.01: 0.9900, per_task/put_item_in_drawer_rot_acc_0.025: 0.4500, per_task/put_item_in_drawer_rot_acc_0.05: 0.7300, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4500, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7300, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0060, per_task/put_money_in_safe_quat_l1_err: 0.2831, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2831, per_task/put_money_in_safe_pos_acc_0.01: 0.8125, per_task/put_money_in_safe_rot_acc_0.025: 0.0312, per_task/put_money_in_safe_rot_acc_0.05: 0.4062, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0312, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4062, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0047, per_task/reach_and_drag_quat_l1_err: 0.3748, per_task/reach_and_drag_quat_l1_ideal_err: 0.3748, per_task/reach_and_drag_pos_acc_0.01: 0.9535, per_task/reach_and_drag_rot_acc_0.025: 0.1860, per_task/reach_and_drag_rot_acc_0.05: 0.3488, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1860, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3488, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0063, per_task/slide_block_to_color_target_quat_l1_err: 0.6285, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6285, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8846, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3846, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3846, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5000, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0063, per_task/stack_blocks_quat_l1_err: 0.2659, per_task/stack_blocks_quat_l1_ideal_err: 0.2659, per_task/stack_blocks_pos_acc_0.01: 0.8882, per_task/stack_blocks_rot_acc_0.025: 0.6711, per_task/stack_blocks_rot_acc_0.05: 0.7368, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6711, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7368, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0064, per_task/stack_cups_quat_l1_err: 0.1200, per_task/stack_cups_quat_l1_ideal_err: 0.1195, per_task/stack_cups_pos_acc_0.01: 0.8765, per_task/stack_cups_rot_acc_0.025: 0.3827, per_task/stack_cups_rot_acc_0.05: 0.6049, per_task/stack_cups_rot_ideal_acc_0.025: 0.3827, per_task/stack_cups_rot_ideal_acc_0.05: 0.6049, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0237, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1479, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1479, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0060, per_task/turn_tap_quat_l1_err: 1.7056, per_task/turn_tap_quat_l1_ideal_err: 1.7056, per_task/turn_tap_pos_acc_0.01: 0.9091, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9091, per_task/turn_tap_open_acc_ideal: 0.9091, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0074, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4800, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4800, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7727, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3864, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5682, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3864, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5682, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000 +04/29/2025 08:10:17 - INFO - __main__ - =============================================== +04/29/2025 08:17:09 - INFO - __main__ - ==============Epoch 491 Step 58500=============== +04/29/2025 08:17:09 - INFO - __main__ - loss_pos:0.1015, loss_rot:0.1942, loss_open:0.0032, loss_total:2.2280 +04/29/2025 08:17:09 - INFO - __main__ - =============================================== +04/29/2025 08:24:05 - INFO - __main__ - ==============Epoch 495 Step 59000=============== +04/29/2025 08:24:05 - INFO - __main__ - loss_pos:0.1015, loss_rot:0.1969, loss_open:0.0027, loss_total:2.2292 +04/29/2025 08:24:05 - INFO - __main__ - =============================================== +04/29/2025 08:24:36 - INFO - __main__ - =================Validation================= +04/29/2025 08:24:36 - INFO - __main__ - total/pos_l2_err: 0.0081, total/quat_l1_err: 0.3542, total/quat_l1_ideal_err: 0.3542, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.8720, total/rot_acc_0.025: 0.4860, total/rot_acc_0.05: 0.6480, total/rot_ideal_acc_0.025: 0.4860, total/rot_ideal_acc_0.05: 0.6480, per_task/close_jar_pos_l2_err: 0.0049, per_task/close_jar_quat_l1_err: 0.1875, per_task/close_jar_quat_l1_ideal_err: 0.1875, per_task/close_jar_pos_acc_0.01: 0.9070, per_task/close_jar_rot_acc_0.025: 0.7209, per_task/close_jar_rot_acc_0.05: 0.7209, per_task/close_jar_rot_ideal_acc_0.025: 0.7209, per_task/close_jar_rot_ideal_acc_0.05: 0.7209, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0055, per_task/insert_onto_square_peg_quat_l1_err: 0.2957, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2957, per_task/insert_onto_square_peg_pos_acc_0.01: 0.8824, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6471, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6471, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0057, per_task/light_bulb_in_quat_l1_err: 0.5729, per_task/light_bulb_in_quat_l1_ideal_err: 0.5729, per_task/light_bulb_in_pos_acc_0.01: 0.9000, per_task/light_bulb_in_rot_acc_0.025: 0.4857, per_task/light_bulb_in_rot_acc_0.05: 0.5857, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4857, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5857, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0051, per_task/meat_off_grill_quat_l1_err: 0.1817, per_task/meat_off_grill_quat_l1_ideal_err: 0.1817, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7451, per_task/meat_off_grill_rot_acc_0.05: 0.8627, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7451, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8627, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0052, per_task/open_drawer_quat_l1_err: 0.4260, per_task/open_drawer_quat_l1_ideal_err: 0.4260, per_task/open_drawer_pos_acc_0.01: 0.9412, per_task/open_drawer_rot_acc_0.025: 0.5294, per_task/open_drawer_rot_acc_0.05: 0.7647, per_task/open_drawer_rot_ideal_acc_0.025: 0.5294, per_task/open_drawer_rot_ideal_acc_0.05: 0.7647, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0060, per_task/place_cups_quat_l1_err: 0.3692, per_task/place_cups_quat_l1_ideal_err: 0.3692, per_task/place_cups_pos_acc_0.01: 0.9043, per_task/place_cups_rot_acc_0.025: 0.1826, per_task/place_cups_rot_acc_0.05: 0.6696, per_task/place_cups_rot_ideal_acc_0.025: 0.1826, per_task/place_cups_rot_ideal_acc_0.05: 0.6696, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0079, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3505, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3505, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7222, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5556, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6389, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5556, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6389, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0066, per_task/place_wine_at_rack_location_quat_l1_err: 0.8677, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8677, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8235, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2941, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4118, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2941, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4118, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0067, per_task/push_buttons_quat_l1_err: 0.0203, per_task/push_buttons_quat_l1_ideal_err: 0.0203, per_task/push_buttons_pos_acc_0.01: 0.7692, per_task/push_buttons_rot_acc_0.025: 0.8462, per_task/push_buttons_rot_acc_0.05: 0.8462, per_task/push_buttons_rot_ideal_acc_0.025: 0.8462, per_task/push_buttons_rot_ideal_acc_0.05: 0.8462, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0115, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4582, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4582, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5227, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.5000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6364, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.5000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6364, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0045, per_task/put_item_in_drawer_quat_l1_err: 0.5005, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.5005, per_task/put_item_in_drawer_pos_acc_0.01: 0.9709, per_task/put_item_in_drawer_rot_acc_0.025: 0.5243, per_task/put_item_in_drawer_rot_acc_0.05: 0.6214, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5243, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6214, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0066, per_task/put_money_in_safe_quat_l1_err: 0.3053, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3053, per_task/put_money_in_safe_pos_acc_0.01: 0.8750, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.3438, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3438, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0048, per_task/reach_and_drag_quat_l1_err: 0.2573, per_task/reach_and_drag_quat_l1_ideal_err: 0.2573, per_task/reach_and_drag_pos_acc_0.01: 0.9825, per_task/reach_and_drag_rot_acc_0.025: 0.3684, per_task/reach_and_drag_rot_acc_0.05: 0.5614, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3684, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5614, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0060, per_task/slide_block_to_color_target_quat_l1_err: 0.2275, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.2275, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9200, per_task/slide_block_to_color_target_rot_acc_0.025: 0.6800, per_task/slide_block_to_color_target_rot_acc_0.05: 0.8400, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.6800, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.8400, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0061, per_task/stack_blocks_quat_l1_err: 0.2666, per_task/stack_blocks_quat_l1_ideal_err: 0.2666, per_task/stack_blocks_pos_acc_0.01: 0.8630, per_task/stack_blocks_rot_acc_0.025: 0.6233, per_task/stack_blocks_rot_acc_0.05: 0.7397, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6233, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7397, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0137, per_task/stack_cups_quat_l1_err: 0.1278, per_task/stack_cups_quat_l1_ideal_err: 0.1273, per_task/stack_cups_pos_acc_0.01: 0.8211, per_task/stack_cups_rot_acc_0.025: 0.4632, per_task/stack_cups_rot_acc_0.05: 0.6211, per_task/stack_cups_rot_ideal_acc_0.025: 0.4632, per_task/stack_cups_rot_ideal_acc_0.05: 0.6211, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0366, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3994, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3994, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8261, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5870, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5870, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5870, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5870, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0069, per_task/turn_tap_quat_l1_err: 2.0128, per_task/turn_tap_quat_l1_ideal_err: 2.0128, per_task/turn_tap_pos_acc_0.01: 0.8889, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 08:24:36 - INFO - __main__ - =============================================== +04/29/2025 08:31:22 - INFO - __main__ - ==============Epoch 499 Step 59500=============== +04/29/2025 08:31:22 - INFO - __main__ - loss_pos:0.1015, loss_rot:0.1918, loss_open:0.0024, loss_total:2.2236 +04/29/2025 08:31:22 - INFO - __main__ - =============================================== +04/29/2025 08:38:14 - INFO - __main__ - ==============Epoch 504 Step 60000=============== +04/29/2025 08:38:15 - INFO - __main__ - loss_pos:0.1015, loss_rot:0.1913, loss_open:0.0024, loss_total:2.2228 +04/29/2025 08:38:15 - INFO - __main__ - =============================================== +04/29/2025 08:38:47 - INFO - __main__ - =================Validation================= +04/29/2025 08:38:47 - INFO - __main__ - total/pos_l2_err: 0.0060, total/quat_l1_err: 0.3991, total/quat_l1_ideal_err: 0.3990, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9024, total/rot_acc_0.025: 0.4554, total/rot_acc_0.05: 0.6191, total/rot_ideal_acc_0.025: 0.4554, total/rot_ideal_acc_0.05: 0.6191, per_task/close_jar_pos_l2_err: 0.0049, per_task/close_jar_quat_l1_err: 0.1616, per_task/close_jar_quat_l1_ideal_err: 0.1616, per_task/close_jar_pos_acc_0.01: 0.9828, per_task/close_jar_rot_acc_0.025: 0.6552, per_task/close_jar_rot_acc_0.05: 0.7931, per_task/close_jar_rot_ideal_acc_0.025: 0.6552, per_task/close_jar_rot_ideal_acc_0.05: 0.7931, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0046, per_task/insert_onto_square_peg_quat_l1_err: 0.4570, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4570, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4773, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5909, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4773, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5909, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0042, per_task/light_bulb_in_quat_l1_err: 0.4652, per_task/light_bulb_in_quat_l1_ideal_err: 0.4652, per_task/light_bulb_in_pos_acc_0.01: 0.9643, per_task/light_bulb_in_rot_acc_0.025: 0.4643, per_task/light_bulb_in_rot_acc_0.05: 0.5536, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4643, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5536, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0041, per_task/meat_off_grill_quat_l1_err: 0.1752, per_task/meat_off_grill_quat_l1_ideal_err: 0.1752, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7358, per_task/meat_off_grill_rot_acc_0.05: 0.7925, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7358, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7925, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0048, per_task/open_drawer_quat_l1_err: 0.6948, per_task/open_drawer_quat_l1_ideal_err: 0.6948, per_task/open_drawer_pos_acc_0.01: 0.9412, per_task/open_drawer_rot_acc_0.025: 0.3529, per_task/open_drawer_rot_acc_0.05: 0.7059, per_task/open_drawer_rot_ideal_acc_0.025: 0.3529, per_task/open_drawer_rot_ideal_acc_0.05: 0.7059, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0063, per_task/place_cups_quat_l1_err: 0.4416, per_task/place_cups_quat_l1_ideal_err: 0.4411, per_task/place_cups_pos_acc_0.01: 0.8455, per_task/place_cups_rot_acc_0.025: 0.2195, per_task/place_cups_rot_acc_0.05: 0.6098, per_task/place_cups_rot_ideal_acc_0.025: 0.2195, per_task/place_cups_rot_ideal_acc_0.05: 0.6098, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0064, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3207, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3207, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8478, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4348, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6087, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4348, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6087, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0058, per_task/place_wine_at_rack_location_quat_l1_err: 0.9964, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9964, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9355, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3548, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3871, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3548, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3871, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0060, per_task/push_buttons_quat_l1_err: 0.0204, per_task/push_buttons_quat_l1_ideal_err: 0.0204, per_task/push_buttons_pos_acc_0.01: 0.8462, per_task/push_buttons_rot_acc_0.025: 0.8462, per_task/push_buttons_rot_acc_0.05: 0.8462, per_task/push_buttons_rot_ideal_acc_0.025: 0.8462, per_task/push_buttons_rot_ideal_acc_0.05: 0.8462, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0102, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6577, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6577, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5909, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3409, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4545, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3409, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4545, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0050, per_task/put_item_in_drawer_quat_l1_err: 0.3045, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3045, per_task/put_item_in_drawer_pos_acc_0.01: 0.9780, per_task/put_item_in_drawer_rot_acc_0.025: 0.6154, per_task/put_item_in_drawer_rot_acc_0.05: 0.7582, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6154, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7582, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0092, per_task/put_money_in_safe_quat_l1_err: 0.3651, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3651, per_task/put_money_in_safe_pos_acc_0.01: 0.7647, per_task/put_money_in_safe_rot_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_acc_0.05: 0.4118, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0294, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4118, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0047, per_task/reach_and_drag_quat_l1_err: 0.2697, per_task/reach_and_drag_quat_l1_ideal_err: 0.2697, per_task/reach_and_drag_pos_acc_0.01: 0.9773, per_task/reach_and_drag_rot_acc_0.025: 0.3409, per_task/reach_and_drag_rot_acc_0.05: 0.5909, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3409, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5909, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0055, per_task/slide_block_to_color_target_quat_l1_err: 0.5598, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5598, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9091, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2727, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4545, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2727, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4545, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0058, per_task/stack_blocks_quat_l1_err: 0.3401, per_task/stack_blocks_quat_l1_ideal_err: 0.3401, per_task/stack_blocks_pos_acc_0.01: 0.9145, per_task/stack_blocks_rot_acc_0.025: 0.5526, per_task/stack_blocks_rot_acc_0.05: 0.6513, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5526, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6513, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0084, per_task/stack_cups_quat_l1_err: 0.1661, per_task/stack_cups_quat_l1_ideal_err: 0.1661, per_task/stack_cups_pos_acc_0.01: 0.8983, per_task/stack_cups_rot_acc_0.025: 0.3898, per_task/stack_cups_rot_acc_0.05: 0.5763, per_task/stack_cups_rot_ideal_acc_0.025: 0.3898, per_task/stack_cups_rot_ideal_acc_0.05: 0.5763, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0067, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3582, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3582, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6857, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6857, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6857, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6857, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0044, per_task/turn_tap_quat_l1_err: 1.9972, per_task/turn_tap_quat_l1_ideal_err: 1.9972, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 08:38:47 - INFO - __main__ - =============================================== +04/29/2025 08:45:36 - INFO - __main__ - ==============Epoch 508 Step 60500=============== +04/29/2025 08:45:36 - INFO - __main__ - loss_pos:0.1012, loss_rot:0.1913, loss_open:0.0025, loss_total:2.2176 +04/29/2025 08:45:36 - INFO - __main__ - =============================================== +04/29/2025 08:52:27 - INFO - __main__ - ==============Epoch 512 Step 61000=============== +04/29/2025 08:52:27 - INFO - __main__ - loss_pos:0.1011, loss_rot:0.1896, loss_open:0.0024, loss_total:2.2142 +04/29/2025 08:52:27 - INFO - __main__ - =============================================== +04/29/2025 08:52:57 - INFO - __main__ - =================Validation================= +04/29/2025 08:52:57 - INFO - __main__ - total/pos_l2_err: 0.0088, total/quat_l1_err: 0.4066, total/quat_l1_ideal_err: 0.4066, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9120, total/rot_acc_0.025: 0.4340, total/rot_acc_0.05: 0.5950, total/rot_ideal_acc_0.025: 0.4340, total/rot_ideal_acc_0.05: 0.5950, per_task/close_jar_pos_l2_err: 0.0054, per_task/close_jar_quat_l1_err: 0.1709, per_task/close_jar_quat_l1_ideal_err: 0.1709, per_task/close_jar_pos_acc_0.01: 0.9038, per_task/close_jar_rot_acc_0.025: 0.5962, per_task/close_jar_rot_acc_0.05: 0.6923, per_task/close_jar_rot_ideal_acc_0.025: 0.5962, per_task/close_jar_rot_ideal_acc_0.05: 0.6923, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0057, per_task/insert_onto_square_peg_quat_l1_err: 0.5065, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5065, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9286, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3810, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5238, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3810, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5238, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0044, per_task/light_bulb_in_quat_l1_err: 0.4449, per_task/light_bulb_in_quat_l1_ideal_err: 0.4449, per_task/light_bulb_in_pos_acc_0.01: 0.9365, per_task/light_bulb_in_rot_acc_0.025: 0.5397, per_task/light_bulb_in_rot_acc_0.05: 0.5556, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5397, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5556, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0050, per_task/meat_off_grill_quat_l1_err: 0.2621, per_task/meat_off_grill_quat_l1_ideal_err: 0.2621, per_task/meat_off_grill_pos_acc_0.01: 0.9697, per_task/meat_off_grill_rot_acc_0.025: 0.6364, per_task/meat_off_grill_rot_acc_0.05: 0.8182, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6364, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8182, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0060, per_task/open_drawer_quat_l1_err: 0.8353, per_task/open_drawer_quat_l1_ideal_err: 0.8353, per_task/open_drawer_pos_acc_0.01: 0.9286, per_task/open_drawer_rot_acc_0.025: 0.4643, per_task/open_drawer_rot_acc_0.05: 0.6429, per_task/open_drawer_rot_ideal_acc_0.025: 0.4643, per_task/open_drawer_rot_ideal_acc_0.05: 0.6429, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0056, per_task/place_cups_quat_l1_err: 0.4914, per_task/place_cups_quat_l1_ideal_err: 0.4914, per_task/place_cups_pos_acc_0.01: 0.9120, per_task/place_cups_rot_acc_0.025: 0.1680, per_task/place_cups_rot_acc_0.05: 0.6000, per_task/place_cups_rot_ideal_acc_0.025: 0.1680, per_task/place_cups_rot_ideal_acc_0.05: 0.6000, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0077, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5596, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5596, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8421, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3421, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4737, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3421, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4737, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0051, per_task/place_wine_at_rack_location_quat_l1_err: 0.8811, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8811, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9730, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2703, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3243, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2703, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3243, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0047, per_task/push_buttons_quat_l1_err: 0.0504, per_task/push_buttons_quat_l1_ideal_err: 0.0504, per_task/push_buttons_pos_acc_0.01: 0.9722, per_task/push_buttons_rot_acc_0.025: 0.6111, per_task/push_buttons_rot_acc_0.05: 0.6111, per_task/push_buttons_rot_ideal_acc_0.025: 0.6111, per_task/push_buttons_rot_ideal_acc_0.05: 0.6111, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0097, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5487, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5487, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6316, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3158, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6316, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3158, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6316, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0054, per_task/put_item_in_drawer_quat_l1_err: 0.3573, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3573, per_task/put_item_in_drawer_pos_acc_0.01: 0.9880, per_task/put_item_in_drawer_rot_acc_0.025: 0.5783, per_task/put_item_in_drawer_rot_acc_0.05: 0.7470, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5783, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7470, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0063, per_task/put_money_in_safe_quat_l1_err: 0.2032, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2032, per_task/put_money_in_safe_pos_acc_0.01: 0.8718, per_task/put_money_in_safe_rot_acc_0.025: 0.0769, per_task/put_money_in_safe_rot_acc_0.05: 0.5385, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0769, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5385, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0051, per_task/reach_and_drag_quat_l1_err: 0.3760, per_task/reach_and_drag_quat_l1_ideal_err: 0.3760, per_task/reach_and_drag_pos_acc_0.01: 0.9787, per_task/reach_and_drag_rot_acc_0.025: 0.2340, per_task/reach_and_drag_rot_acc_0.05: 0.3617, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2340, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3617, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0063, per_task/slide_block_to_color_target_quat_l1_err: 0.3191, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3191, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9286, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5714, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6071, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5714, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6071, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0065, per_task/stack_blocks_quat_l1_err: 0.2439, per_task/stack_blocks_quat_l1_ideal_err: 0.2439, per_task/stack_blocks_pos_acc_0.01: 0.9346, per_task/stack_blocks_rot_acc_0.025: 0.6144, per_task/stack_blocks_rot_acc_0.05: 0.7255, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6144, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7255, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0060, per_task/stack_cups_quat_l1_err: 0.1541, per_task/stack_cups_quat_l1_ideal_err: 0.1541, per_task/stack_cups_pos_acc_0.01: 0.8718, per_task/stack_cups_rot_acc_0.025: 0.4103, per_task/stack_cups_rot_acc_0.05: 0.5256, per_task/stack_cups_rot_ideal_acc_0.025: 0.4103, per_task/stack_cups_rot_ideal_acc_0.05: 0.5256, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0545, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4183, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4183, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8333, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6167, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6167, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6167, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6167, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0056, per_task/turn_tap_quat_l1_err: 1.9892, per_task/turn_tap_quat_l1_ideal_err: 1.9892, per_task/turn_tap_pos_acc_0.01: 0.9500, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 08:52:57 - INFO - __main__ - =============================================== +04/29/2025 08:59:53 - INFO - __main__ - ==============Epoch 516 Step 61500=============== +04/29/2025 08:59:53 - INFO - __main__ - loss_pos:0.1008, loss_rot:0.1915, loss_open:0.0044, loss_total:2.2116 +04/29/2025 08:59:53 - INFO - __main__ - =============================================== +04/29/2025 09:06:51 - INFO - __main__ - ==============Epoch 521 Step 62000=============== +04/29/2025 09:06:51 - INFO - __main__ - loss_pos:0.1008, loss_rot:0.1882, loss_open:0.0027, loss_total:2.2068 +04/29/2025 09:06:51 - INFO - __main__ - =============================================== +04/29/2025 09:07:23 - INFO - __main__ - =================Validation================= +04/29/2025 09:07:23 - INFO - __main__ - total/pos_l2_err: 0.0072, total/quat_l1_err: 0.4344, total/quat_l1_ideal_err: 0.4344, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9090, total/rot_acc_0.025: 0.4200, total/rot_acc_0.05: 0.5960, total/rot_ideal_acc_0.025: 0.4200, total/rot_ideal_acc_0.05: 0.5970, per_task/close_jar_pos_l2_err: 0.0044, per_task/close_jar_quat_l1_err: 0.2483, per_task/close_jar_quat_l1_ideal_err: 0.2483, per_task/close_jar_pos_acc_0.01: 0.9512, per_task/close_jar_rot_acc_0.025: 0.5854, per_task/close_jar_rot_acc_0.05: 0.6585, per_task/close_jar_rot_ideal_acc_0.025: 0.5854, per_task/close_jar_rot_ideal_acc_0.05: 0.6585, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0050, per_task/insert_onto_square_peg_quat_l1_err: 0.5677, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5677, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9231, per_task/insert_onto_square_peg_rot_acc_0.025: 0.2821, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5128, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.2821, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5128, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0046, per_task/light_bulb_in_quat_l1_err: 0.6431, per_task/light_bulb_in_quat_l1_ideal_err: 0.6431, per_task/light_bulb_in_pos_acc_0.01: 0.9444, per_task/light_bulb_in_rot_acc_0.025: 0.4722, per_task/light_bulb_in_rot_acc_0.05: 0.5139, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4722, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5139, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0043, per_task/meat_off_grill_quat_l1_err: 0.3890, per_task/meat_off_grill_quat_l1_ideal_err: 0.3890, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6757, per_task/meat_off_grill_rot_acc_0.05: 0.7027, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6757, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7027, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0053, per_task/open_drawer_quat_l1_err: 0.6876, per_task/open_drawer_quat_l1_ideal_err: 0.6876, per_task/open_drawer_pos_acc_0.01: 0.9677, per_task/open_drawer_rot_acc_0.025: 0.3226, per_task/open_drawer_rot_acc_0.05: 0.7097, per_task/open_drawer_rot_ideal_acc_0.025: 0.3226, per_task/open_drawer_rot_ideal_acc_0.05: 0.7097, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0059, per_task/place_cups_quat_l1_err: 0.3376, per_task/place_cups_quat_l1_ideal_err: 0.3376, per_task/place_cups_pos_acc_0.01: 0.9457, per_task/place_cups_rot_acc_0.025: 0.2248, per_task/place_cups_rot_acc_0.05: 0.6822, per_task/place_cups_rot_ideal_acc_0.025: 0.2248, per_task/place_cups_rot_ideal_acc_0.05: 0.6822, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0064, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4799, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4799, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8372, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3953, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5116, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3953, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5116, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0061, per_task/place_wine_at_rack_location_quat_l1_err: 1.0647, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0647, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8571, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3571, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3810, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3571, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3810, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0051, per_task/push_buttons_quat_l1_err: 0.0471, per_task/push_buttons_quat_l1_ideal_err: 0.0471, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.6364, per_task/push_buttons_rot_acc_0.05: 0.6364, per_task/push_buttons_rot_ideal_acc_0.025: 0.6364, per_task/push_buttons_rot_ideal_acc_0.05: 0.6364, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0122, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5117, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5117, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.4510, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4510, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5882, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4510, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5882, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0045, per_task/put_item_in_drawer_quat_l1_err: 0.3277, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3277, per_task/put_item_in_drawer_pos_acc_0.01: 0.9882, per_task/put_item_in_drawer_rot_acc_0.025: 0.5059, per_task/put_item_in_drawer_rot_acc_0.05: 0.7647, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5059, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7647, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0091, per_task/put_money_in_safe_quat_l1_err: 0.3008, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3004, per_task/put_money_in_safe_pos_acc_0.01: 0.8571, per_task/put_money_in_safe_rot_acc_0.025: 0.0476, per_task/put_money_in_safe_rot_acc_0.05: 0.5000, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0476, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5238, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0039, per_task/reach_and_drag_quat_l1_err: 0.3922, per_task/reach_and_drag_quat_l1_ideal_err: 0.3922, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2222, per_task/reach_and_drag_rot_acc_0.05: 0.3889, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2222, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3889, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0055, per_task/slide_block_to_color_target_quat_l1_err: 0.3778, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3778, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5429, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6286, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5429, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6286, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0049, per_task/stack_blocks_quat_l1_err: 0.3475, per_task/stack_blocks_quat_l1_ideal_err: 0.3475, per_task/stack_blocks_pos_acc_0.01: 0.9431, per_task/stack_blocks_rot_acc_0.025: 0.5447, per_task/stack_blocks_rot_acc_0.05: 0.6341, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5447, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6341, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0063, per_task/stack_cups_quat_l1_err: 0.2180, per_task/stack_cups_quat_l1_ideal_err: 0.2180, per_task/stack_cups_pos_acc_0.01: 0.9167, per_task/stack_cups_rot_acc_0.025: 0.4167, per_task/stack_cups_rot_acc_0.05: 0.5595, per_task/stack_cups_rot_ideal_acc_0.025: 0.4167, per_task/stack_cups_rot_ideal_acc_0.05: 0.5595, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0432, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1817, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1817, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7949, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8462, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8462, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8462, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8462, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0071, per_task/turn_tap_quat_l1_err: 2.0267, per_task/turn_tap_quat_l1_ideal_err: 2.0267, per_task/turn_tap_pos_acc_0.01: 0.8000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 09:07:23 - INFO - __main__ - =============================================== +04/29/2025 09:14:20 - INFO - __main__ - ==============Epoch 525 Step 62500=============== +04/29/2025 09:14:20 - INFO - __main__ - loss_pos:0.1007, loss_rot:0.1883, loss_open:0.0026, loss_total:2.2055 +04/29/2025 09:14:20 - INFO - __main__ - =============================================== +04/29/2025 09:21:15 - INFO - __main__ - ==============Epoch 529 Step 63000=============== +04/29/2025 09:21:15 - INFO - __main__ - loss_pos:0.1004, loss_rot:0.1848, loss_open:0.0023, loss_total:2.1957 +04/29/2025 09:21:15 - INFO - __main__ - =============================================== +04/29/2025 09:21:45 - INFO - __main__ - =================Validation================= +04/29/2025 09:21:45 - INFO - __main__ - total/pos_l2_err: 0.0069, total/quat_l1_err: 0.3804, total/quat_l1_ideal_err: 0.3804, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9040, total/rot_acc_0.025: 0.4670, total/rot_acc_0.05: 0.6200, total/rot_ideal_acc_0.025: 0.4670, total/rot_ideal_acc_0.05: 0.6200, per_task/close_jar_pos_l2_err: 0.0044, per_task/close_jar_quat_l1_err: 0.1423, per_task/close_jar_quat_l1_ideal_err: 0.1423, per_task/close_jar_pos_acc_0.01: 0.9828, per_task/close_jar_rot_acc_0.025: 0.7586, per_task/close_jar_rot_acc_0.05: 0.7931, per_task/close_jar_rot_ideal_acc_0.025: 0.7586, per_task/close_jar_rot_ideal_acc_0.05: 0.7931, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0055, per_task/insert_onto_square_peg_quat_l1_err: 0.5654, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5654, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9375, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3438, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4375, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3438, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4375, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0057, per_task/light_bulb_in_quat_l1_err: 0.3743, per_task/light_bulb_in_quat_l1_ideal_err: 0.3743, per_task/light_bulb_in_pos_acc_0.01: 0.9219, per_task/light_bulb_in_rot_acc_0.025: 0.5469, per_task/light_bulb_in_rot_acc_0.05: 0.6406, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5469, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6406, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0054, per_task/meat_off_grill_quat_l1_err: 0.1838, per_task/meat_off_grill_quat_l1_ideal_err: 0.1838, per_task/meat_off_grill_pos_acc_0.01: 0.9524, per_task/meat_off_grill_rot_acc_0.025: 0.7619, per_task/meat_off_grill_rot_acc_0.05: 0.8333, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7619, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8333, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0053, per_task/open_drawer_quat_l1_err: 0.8837, per_task/open_drawer_quat_l1_ideal_err: 0.8837, per_task/open_drawer_pos_acc_0.01: 0.9259, per_task/open_drawer_rot_acc_0.025: 0.3704, per_task/open_drawer_rot_acc_0.05: 0.5556, per_task/open_drawer_rot_ideal_acc_0.025: 0.3704, per_task/open_drawer_rot_ideal_acc_0.05: 0.5556, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0067, per_task/place_cups_quat_l1_err: 0.2865, per_task/place_cups_quat_l1_ideal_err: 0.2865, per_task/place_cups_pos_acc_0.01: 0.8800, per_task/place_cups_rot_acc_0.025: 0.2560, per_task/place_cups_rot_acc_0.05: 0.6800, per_task/place_cups_rot_ideal_acc_0.025: 0.2560, per_task/place_cups_rot_ideal_acc_0.05: 0.6800, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0062, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4805, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4805, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8750, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5417, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5417, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0054, per_task/place_wine_at_rack_location_quat_l1_err: 0.8446, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8446, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9167, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1667, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3542, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1667, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3542, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0057, per_task/push_buttons_quat_l1_err: 0.0063, per_task/push_buttons_quat_l1_ideal_err: 0.0063, per_task/push_buttons_pos_acc_0.01: 0.9167, per_task/push_buttons_rot_acc_0.025: 0.9583, per_task/push_buttons_rot_acc_0.05: 0.9583, per_task/push_buttons_rot_ideal_acc_0.025: 0.9583, per_task/push_buttons_rot_ideal_acc_0.05: 0.9583, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0106, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6335, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6335, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6154, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3590, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4872, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3590, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4872, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0040, per_task/put_item_in_drawer_quat_l1_err: 0.3856, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3856, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.6322, per_task/put_item_in_drawer_rot_acc_0.05: 0.7356, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6322, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7356, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0069, per_task/put_money_in_safe_quat_l1_err: 0.2200, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2200, per_task/put_money_in_safe_pos_acc_0.01: 0.8478, per_task/put_money_in_safe_rot_acc_0.025: 0.0870, per_task/put_money_in_safe_rot_acc_0.05: 0.5652, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0870, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5652, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0050, per_task/reach_and_drag_quat_l1_err: 0.3426, per_task/reach_and_drag_quat_l1_ideal_err: 0.3426, per_task/reach_and_drag_pos_acc_0.01: 0.9464, per_task/reach_and_drag_rot_acc_0.025: 0.3036, per_task/reach_and_drag_rot_acc_0.05: 0.4107, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3036, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4107, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0052, per_task/slide_block_to_color_target_quat_l1_err: 0.4797, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4797, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9630, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5185, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5926, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5185, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5926, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0059, per_task/stack_blocks_quat_l1_err: 0.2850, per_task/stack_blocks_quat_l1_ideal_err: 0.2850, per_task/stack_blocks_pos_acc_0.01: 0.8667, per_task/stack_blocks_rot_acc_0.025: 0.5926, per_task/stack_blocks_rot_acc_0.05: 0.6889, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5926, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6889, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0059, per_task/stack_cups_quat_l1_err: 0.1432, per_task/stack_cups_quat_l1_ideal_err: 0.1432, per_task/stack_cups_pos_acc_0.01: 0.9444, per_task/stack_cups_rot_acc_0.025: 0.4222, per_task/stack_cups_rot_acc_0.05: 0.5667, per_task/stack_cups_rot_ideal_acc_0.025: 0.4222, per_task/stack_cups_rot_ideal_acc_0.05: 0.5667, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0424, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2337, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2337, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0056, per_task/turn_tap_quat_l1_err: 1.8198, per_task/turn_tap_quat_l1_ideal_err: 1.8198, per_task/turn_tap_pos_acc_0.01: 0.9091, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 09:21:45 - INFO - __main__ - =============================================== +04/29/2025 09:28:39 - INFO - __main__ - ==============Epoch 533 Step 63500=============== +04/29/2025 09:28:39 - INFO - __main__ - loss_pos:0.1003, loss_rot:0.1823, loss_open:0.0020, loss_total:2.1895 +04/29/2025 09:28:39 - INFO - __main__ - =============================================== +04/29/2025 09:35:31 - INFO - __main__ - ==============Epoch 537 Step 64000=============== +04/29/2025 09:35:31 - INFO - __main__ - loss_pos:0.1004, loss_rot:0.1866, loss_open:0.0026, loss_total:2.1972 +04/29/2025 09:35:31 - INFO - __main__ - =============================================== +04/29/2025 09:36:03 - INFO - __main__ - =================Validation================= +04/29/2025 09:36:03 - INFO - __main__ - total/pos_l2_err: 0.0079, total/quat_l1_err: 0.3936, total/quat_l1_ideal_err: 0.3936, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.8860, total/rot_acc_0.025: 0.4470, total/rot_acc_0.05: 0.6210, total/rot_ideal_acc_0.025: 0.4470, total/rot_ideal_acc_0.05: 0.6210, per_task/close_jar_pos_l2_err: 0.0063, per_task/close_jar_quat_l1_err: 0.3081, per_task/close_jar_quat_l1_ideal_err: 0.3081, per_task/close_jar_pos_acc_0.01: 0.8571, per_task/close_jar_rot_acc_0.025: 0.4464, per_task/close_jar_rot_acc_0.05: 0.5357, per_task/close_jar_rot_ideal_acc_0.025: 0.4464, per_task/close_jar_rot_ideal_acc_0.05: 0.5357, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0054, per_task/insert_onto_square_peg_quat_l1_err: 0.5264, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5264, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9130, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4348, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4348, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0055, per_task/light_bulb_in_quat_l1_err: 0.3391, per_task/light_bulb_in_quat_l1_ideal_err: 0.3391, per_task/light_bulb_in_pos_acc_0.01: 0.9423, per_task/light_bulb_in_rot_acc_0.025: 0.5577, per_task/light_bulb_in_rot_acc_0.05: 0.6538, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5577, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6538, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0044, per_task/meat_off_grill_quat_l1_err: 0.2968, per_task/meat_off_grill_quat_l1_ideal_err: 0.2968, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6889, per_task/meat_off_grill_rot_acc_0.05: 0.7556, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6889, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7556, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0051, per_task/open_drawer_quat_l1_err: 0.9122, per_task/open_drawer_quat_l1_ideal_err: 0.9122, per_task/open_drawer_pos_acc_0.01: 0.9355, per_task/open_drawer_rot_acc_0.025: 0.3871, per_task/open_drawer_rot_acc_0.05: 0.5484, per_task/open_drawer_rot_ideal_acc_0.025: 0.3871, per_task/open_drawer_rot_ideal_acc_0.05: 0.5484, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0063, per_task/place_cups_quat_l1_err: 0.3257, per_task/place_cups_quat_l1_ideal_err: 0.3257, per_task/place_cups_pos_acc_0.01: 0.8929, per_task/place_cups_rot_acc_0.025: 0.2054, per_task/place_cups_rot_acc_0.05: 0.6607, per_task/place_cups_rot_ideal_acc_0.025: 0.2054, per_task/place_cups_rot_ideal_acc_0.05: 0.6607, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0056, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.2884, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.2884, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8571, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4857, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6286, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4857, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6286, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0119, per_task/place_wine_at_rack_location_quat_l1_err: 1.2135, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.2135, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.7111, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3111, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3556, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3111, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3556, per_task/place_wine_at_rack_location_open_acc: 0.9778, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9778, per_task/push_buttons_pos_l2_err: 0.0062, per_task/push_buttons_quat_l1_err: 0.0523, per_task/push_buttons_quat_l1_ideal_err: 0.0523, per_task/push_buttons_pos_acc_0.01: 0.9091, per_task/push_buttons_rot_acc_0.025: 0.6061, per_task/push_buttons_rot_acc_0.05: 0.6061, per_task/push_buttons_rot_ideal_acc_0.025: 0.6061, per_task/push_buttons_rot_ideal_acc_0.05: 0.6061, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0106, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5278, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5278, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5306, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4286, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6327, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4286, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6327, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0039, per_task/put_item_in_drawer_quat_l1_err: 0.4083, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4083, per_task/put_item_in_drawer_pos_acc_0.01: 0.9775, per_task/put_item_in_drawer_rot_acc_0.025: 0.5843, per_task/put_item_in_drawer_rot_acc_0.05: 0.7079, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5843, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7079, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0065, per_task/put_money_in_safe_quat_l1_err: 0.2803, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2803, per_task/put_money_in_safe_pos_acc_0.01: 0.8511, per_task/put_money_in_safe_rot_acc_0.025: 0.0851, per_task/put_money_in_safe_rot_acc_0.05: 0.5106, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0851, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5106, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0044, per_task/reach_and_drag_quat_l1_err: 0.3019, per_task/reach_and_drag_quat_l1_ideal_err: 0.3019, per_task/reach_and_drag_pos_acc_0.01: 0.9836, per_task/reach_and_drag_rot_acc_0.025: 0.2951, per_task/reach_and_drag_rot_acc_0.05: 0.5410, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2951, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5410, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0066, per_task/slide_block_to_color_target_quat_l1_err: 0.3646, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3646, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8485, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5152, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6667, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5152, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6667, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0055, per_task/stack_blocks_quat_l1_err: 0.2788, per_task/stack_blocks_quat_l1_ideal_err: 0.2788, per_task/stack_blocks_pos_acc_0.01: 0.9084, per_task/stack_blocks_rot_acc_0.025: 0.5954, per_task/stack_blocks_rot_acc_0.05: 0.7176, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5954, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7176, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0068, per_task/stack_cups_quat_l1_err: 0.1496, per_task/stack_cups_quat_l1_ideal_err: 0.1496, per_task/stack_cups_pos_acc_0.01: 0.9136, per_task/stack_cups_rot_acc_0.025: 0.4198, per_task/stack_cups_rot_acc_0.05: 0.6420, per_task/stack_cups_rot_ideal_acc_0.025: 0.4198, per_task/stack_cups_rot_ideal_acc_0.05: 0.6420, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0502, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2391, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2391, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8537, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7805, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7805, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7805, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7805, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0054, per_task/turn_tap_quat_l1_err: 1.9770, per_task/turn_tap_quat_l1_ideal_err: 1.9770, per_task/turn_tap_pos_acc_0.01: 0.9231, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 09:36:03 - INFO - __main__ - =============================================== +04/29/2025 09:42:58 - INFO - __main__ - ==============Epoch 542 Step 64500=============== +04/29/2025 09:42:58 - INFO - __main__ - loss_pos:0.1000, loss_rot:0.1830, loss_open:0.0028, loss_total:2.1857 +04/29/2025 09:42:58 - INFO - __main__ - =============================================== +04/29/2025 09:49:47 - INFO - __main__ - ==============Epoch 546 Step 65000=============== +04/29/2025 09:49:47 - INFO - __main__ - loss_pos:0.0996, loss_rot:0.1815, loss_open:0.0020, loss_total:2.1763 +04/29/2025 09:49:47 - INFO - __main__ - =============================================== +04/29/2025 09:50:18 - INFO - __main__ - =================Validation================= +04/29/2025 09:50:18 - INFO - __main__ - total/pos_l2_err: 0.0065, total/quat_l1_err: 0.4295, total/quat_l1_ideal_err: 0.4295, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.8860, total/rot_acc_0.025: 0.4220, total/rot_acc_0.05: 0.5820, total/rot_ideal_acc_0.025: 0.4220, total/rot_ideal_acc_0.05: 0.5820, per_task/close_jar_pos_l2_err: 0.0056, per_task/close_jar_quat_l1_err: 0.2893, per_task/close_jar_quat_l1_ideal_err: 0.2893, per_task/close_jar_pos_acc_0.01: 0.8704, per_task/close_jar_rot_acc_0.025: 0.5000, per_task/close_jar_rot_acc_0.05: 0.5926, per_task/close_jar_rot_ideal_acc_0.025: 0.5000, per_task/close_jar_rot_ideal_acc_0.05: 0.5926, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0045, per_task/insert_onto_square_peg_quat_l1_err: 0.4166, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4166, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5641, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6410, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5641, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6410, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0056, per_task/light_bulb_in_quat_l1_err: 0.3598, per_task/light_bulb_in_quat_l1_ideal_err: 0.3598, per_task/light_bulb_in_pos_acc_0.01: 0.9231, per_task/light_bulb_in_rot_acc_0.025: 0.4462, per_task/light_bulb_in_rot_acc_0.05: 0.4923, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4462, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4923, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0048, per_task/meat_off_grill_quat_l1_err: 0.2506, per_task/meat_off_grill_quat_l1_ideal_err: 0.2506, per_task/meat_off_grill_pos_acc_0.01: 0.9688, per_task/meat_off_grill_rot_acc_0.025: 0.6562, per_task/meat_off_grill_rot_acc_0.05: 0.7188, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6562, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7188, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0045, per_task/open_drawer_quat_l1_err: 1.1654, per_task/open_drawer_quat_l1_ideal_err: 1.1654, per_task/open_drawer_pos_acc_0.01: 0.9615, per_task/open_drawer_rot_acc_0.025: 0.2692, per_task/open_drawer_rot_acc_0.05: 0.4615, per_task/open_drawer_rot_ideal_acc_0.025: 0.2692, per_task/open_drawer_rot_ideal_acc_0.05: 0.4615, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0064, per_task/place_cups_quat_l1_err: 0.4485, per_task/place_cups_quat_l1_ideal_err: 0.4485, per_task/place_cups_pos_acc_0.01: 0.8605, per_task/place_cups_rot_acc_0.025: 0.1705, per_task/place_cups_rot_acc_0.05: 0.5814, per_task/place_cups_rot_ideal_acc_0.025: 0.1705, per_task/place_cups_rot_ideal_acc_0.05: 0.5814, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0078, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5546, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5546, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7805, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3902, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4634, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3902, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4634, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0067, per_task/place_wine_at_rack_location_quat_l1_err: 0.9776, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9776, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8611, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2778, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3056, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2778, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3056, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0058, per_task/push_buttons_quat_l1_err: 0.0295, per_task/push_buttons_quat_l1_ideal_err: 0.0295, per_task/push_buttons_pos_acc_0.01: 0.8710, per_task/push_buttons_rot_acc_0.025: 0.7742, per_task/push_buttons_rot_acc_0.05: 0.7742, per_task/push_buttons_rot_ideal_acc_0.025: 0.7742, per_task/push_buttons_rot_ideal_acc_0.05: 0.7742, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0113, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4561, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4561, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.4595, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3784, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5946, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3784, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5946, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0047, per_task/put_item_in_drawer_quat_l1_err: 0.3615, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3615, per_task/put_item_in_drawer_pos_acc_0.01: 0.9672, per_task/put_item_in_drawer_rot_acc_0.025: 0.5328, per_task/put_item_in_drawer_rot_acc_0.05: 0.7213, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5328, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7213, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0068, per_task/put_money_in_safe_quat_l1_err: 0.2751, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2751, per_task/put_money_in_safe_pos_acc_0.01: 0.8222, per_task/put_money_in_safe_rot_acc_0.025: 0.0444, per_task/put_money_in_safe_rot_acc_0.05: 0.4889, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0444, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4889, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0047, per_task/reach_and_drag_quat_l1_err: 0.2171, per_task/reach_and_drag_quat_l1_ideal_err: 0.2171, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3421, per_task/reach_and_drag_rot_acc_0.05: 0.5789, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3421, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5789, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0059, per_task/slide_block_to_color_target_quat_l1_err: 0.4193, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4193, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9310, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5172, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5517, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5172, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5517, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0072, per_task/stack_blocks_quat_l1_err: 0.3875, per_task/stack_blocks_quat_l1_ideal_err: 0.3875, per_task/stack_blocks_pos_acc_0.01: 0.8810, per_task/stack_blocks_rot_acc_0.025: 0.5556, per_task/stack_blocks_rot_acc_0.05: 0.6587, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5556, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6587, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0059, per_task/stack_cups_quat_l1_err: 0.1862, per_task/stack_cups_quat_l1_ideal_err: 0.1862, per_task/stack_cups_pos_acc_0.01: 0.9000, per_task/stack_cups_rot_acc_0.025: 0.4125, per_task/stack_cups_rot_acc_0.05: 0.5500, per_task/stack_cups_rot_ideal_acc_0.025: 0.4125, per_task/stack_cups_rot_ideal_acc_0.05: 0.5500, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0142, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3394, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3394, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8889, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7111, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7111, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7111, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7111, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0064, per_task/turn_tap_quat_l1_err: 1.8563, per_task/turn_tap_quat_l1_ideal_err: 1.8563, per_task/turn_tap_pos_acc_0.01: 0.9200, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 09:50:18 - INFO - __main__ - =============================================== +04/29/2025 09:57:16 - INFO - __main__ - ==============Epoch 550 Step 65500=============== +04/29/2025 09:57:16 - INFO - __main__ - loss_pos:0.0997, loss_rot:0.1809, loss_open:0.0017, loss_total:2.1777 +04/29/2025 09:57:16 - INFO - __main__ - =============================================== +04/29/2025 10:04:08 - INFO - __main__ - ==============Epoch 554 Step 66000=============== +04/29/2025 10:04:08 - INFO - __main__ - loss_pos:0.0998, loss_rot:0.1815, loss_open:0.0019, loss_total:2.1796 +04/29/2025 10:04:08 - INFO - __main__ - =============================================== +04/29/2025 10:04:39 - INFO - __main__ - =================Validation================= +04/29/2025 10:04:39 - INFO - __main__ - total/pos_l2_err: 0.0060, total/quat_l1_err: 0.4030, total/quat_l1_ideal_err: 0.4030, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9250, total/rot_acc_0.025: 0.4220, total/rot_acc_0.05: 0.5970, total/rot_ideal_acc_0.025: 0.4220, total/rot_ideal_acc_0.05: 0.5970, per_task/close_jar_pos_l2_err: 0.0044, per_task/close_jar_quat_l1_err: 0.3348, per_task/close_jar_quat_l1_ideal_err: 0.3348, per_task/close_jar_pos_acc_0.01: 0.9623, per_task/close_jar_rot_acc_0.025: 0.4340, per_task/close_jar_rot_acc_0.05: 0.5283, per_task/close_jar_rot_ideal_acc_0.025: 0.4340, per_task/close_jar_rot_ideal_acc_0.05: 0.5283, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0046, per_task/light_bulb_in_quat_l1_err: 0.3071, per_task/light_bulb_in_quat_l1_ideal_err: 0.3071, per_task/light_bulb_in_pos_acc_0.01: 0.9153, per_task/light_bulb_in_rot_acc_0.025: 0.5593, per_task/light_bulb_in_rot_acc_0.05: 0.6102, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5593, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6102, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0041, per_task/meat_off_grill_quat_l1_err: 0.2706, per_task/meat_off_grill_quat_l1_ideal_err: 0.2706, per_task/meat_off_grill_pos_acc_0.01: 0.9773, per_task/meat_off_grill_rot_acc_0.025: 0.6591, per_task/meat_off_grill_rot_acc_0.05: 0.7955, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6591, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7955, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0038, per_task/open_drawer_quat_l1_err: 0.8432, per_task/open_drawer_quat_l1_ideal_err: 0.8432, per_task/open_drawer_pos_acc_0.01: 0.9500, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.5500, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.5500, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0050, per_task/place_cups_quat_l1_err: 0.4434, per_task/place_cups_quat_l1_ideal_err: 0.4434, per_task/place_cups_pos_acc_0.01: 0.9558, per_task/place_cups_rot_acc_0.025: 0.1947, per_task/place_cups_rot_acc_0.05: 0.6283, per_task/place_cups_rot_ideal_acc_0.025: 0.1947, per_task/place_cups_rot_ideal_acc_0.05: 0.6283, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0066, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4578, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4565, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8750, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5208, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5208, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0060, per_task/place_wine_at_rack_location_quat_l1_err: 0.9835, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9835, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9231, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2308, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3590, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2308, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3590, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0048, per_task/push_buttons_quat_l1_err: 0.0371, per_task/push_buttons_quat_l1_ideal_err: 0.0371, per_task/push_buttons_pos_acc_0.01: 0.9429, per_task/push_buttons_rot_acc_0.025: 0.7143, per_task/push_buttons_rot_acc_0.05: 0.7143, per_task/push_buttons_rot_ideal_acc_0.025: 0.7143, per_task/push_buttons_rot_ideal_acc_0.05: 0.7143, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0092, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4551, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4551, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3778, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3778, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0036, per_task/put_item_in_drawer_quat_l1_err: 0.4665, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4665, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.4848, per_task/put_item_in_drawer_rot_acc_0.05: 0.6667, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4848, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6667, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0072, per_task/put_money_in_safe_quat_l1_err: 0.3066, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3066, per_task/put_money_in_safe_pos_acc_0.01: 0.8846, per_task/put_money_in_safe_rot_acc_0.025: 0.0769, per_task/put_money_in_safe_rot_acc_0.05: 0.4231, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0769, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4231, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0038, per_task/reach_and_drag_quat_l1_err: 0.2019, per_task/reach_and_drag_quat_l1_ideal_err: 0.2019, per_task/reach_and_drag_pos_acc_0.01: 0.9831, per_task/reach_and_drag_rot_acc_0.025: 0.3220, per_task/reach_and_drag_rot_acc_0.05: 0.5932, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3220, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5932, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0049, per_task/slide_block_to_color_target_quat_l1_err: 0.4329, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4329, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3684, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4211, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3684, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4211, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0065, per_task/stack_blocks_quat_l1_err: 0.3519, per_task/stack_blocks_quat_l1_ideal_err: 0.3519, per_task/stack_blocks_pos_acc_0.01: 0.8992, per_task/stack_blocks_rot_acc_0.025: 0.4961, per_task/stack_blocks_rot_acc_0.05: 0.6124, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4961, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6124, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0054, per_task/stack_cups_quat_l1_err: 0.2644, per_task/stack_cups_quat_l1_ideal_err: 0.2644, per_task/stack_cups_pos_acc_0.01: 0.9383, per_task/stack_cups_rot_acc_0.025: 0.4198, per_task/stack_cups_rot_acc_0.05: 0.6420, per_task/stack_cups_rot_ideal_acc_0.025: 0.4198, per_task/stack_cups_rot_ideal_acc_0.05: 0.6420, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0200, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2721, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2721, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9565, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7609, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7609, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7609, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7609, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0073, per_task/turn_tap_quat_l1_err: 1.8494, per_task/turn_tap_quat_l1_ideal_err: 1.8494, per_task/turn_tap_pos_acc_0.01: 0.7143, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9286, per_task/turn_tap_open_acc_ideal: 0.9286, per_task/insert_onto_square_peg_pos_l2_err: 0.0043, per_task/insert_onto_square_peg_quat_l1_err: 0.4154, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4154, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9778, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5556, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6222, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5556, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6222, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000 +04/29/2025 10:04:39 - INFO - __main__ - =============================================== +04/29/2025 10:11:32 - INFO - __main__ - ==============Epoch 558 Step 66500=============== +04/29/2025 10:11:32 - INFO - __main__ - loss_pos:0.0996, loss_rot:0.1790, loss_open:0.0025, loss_total:2.1744 +04/29/2025 10:11:32 - INFO - __main__ - =============================================== +04/29/2025 10:18:31 - INFO - __main__ - ==============Epoch 563 Step 67000=============== +04/29/2025 10:18:31 - INFO - __main__ - loss_pos:0.0994, loss_rot:0.1798, loss_open:0.0023, loss_total:2.1710 +04/29/2025 10:18:31 - INFO - __main__ - =============================================== +04/29/2025 10:19:02 - INFO - __main__ - =================Validation================= +04/29/2025 10:19:02 - INFO - __main__ - total/pos_l2_err: 0.0061, total/quat_l1_err: 0.4432, total/quat_l1_ideal_err: 0.4432, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9280, total/rot_acc_0.025: 0.4100, total/rot_acc_0.05: 0.5850, total/rot_ideal_acc_0.025: 0.4100, total/rot_ideal_acc_0.05: 0.5850, per_task/close_jar_pos_l2_err: 0.0049, per_task/close_jar_quat_l1_err: 0.1306, per_task/close_jar_quat_l1_ideal_err: 0.1306, per_task/close_jar_pos_acc_0.01: 0.9831, per_task/close_jar_rot_acc_0.025: 0.6271, per_task/close_jar_rot_acc_0.05: 0.7288, per_task/close_jar_rot_ideal_acc_0.025: 0.6271, per_task/close_jar_rot_ideal_acc_0.05: 0.7288, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0044, per_task/insert_onto_square_peg_quat_l1_err: 0.4520, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4520, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9524, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4286, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5714, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4286, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5714, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0040, per_task/light_bulb_in_quat_l1_err: 0.4701, per_task/light_bulb_in_quat_l1_ideal_err: 0.4701, per_task/light_bulb_in_pos_acc_0.01: 0.9839, per_task/light_bulb_in_rot_acc_0.025: 0.5484, per_task/light_bulb_in_rot_acc_0.05: 0.6129, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5484, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6129, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0047, per_task/meat_off_grill_quat_l1_err: 0.4308, per_task/meat_off_grill_quat_l1_ideal_err: 0.4308, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.5000, per_task/meat_off_grill_rot_acc_0.05: 0.6389, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5000, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6389, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0048, per_task/open_drawer_quat_l1_err: 0.8989, per_task/open_drawer_quat_l1_ideal_err: 0.8989, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4615, per_task/open_drawer_rot_acc_0.05: 0.6154, per_task/open_drawer_rot_ideal_acc_0.025: 0.4615, per_task/open_drawer_rot_ideal_acc_0.05: 0.6154, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0072, per_task/place_cups_quat_l1_err: 0.4014, per_task/place_cups_quat_l1_ideal_err: 0.4014, per_task/place_cups_pos_acc_0.01: 0.9262, per_task/place_cups_rot_acc_0.025: 0.1803, per_task/place_cups_rot_acc_0.05: 0.5984, per_task/place_cups_rot_ideal_acc_0.025: 0.1803, per_task/place_cups_rot_ideal_acc_0.05: 0.5984, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0062, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3849, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3849, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8511, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3404, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5319, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3404, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5319, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0069, per_task/place_wine_at_rack_location_quat_l1_err: 1.2816, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.2816, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2750, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2750, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3500, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0047, per_task/push_buttons_quat_l1_err: 0.0340, per_task/push_buttons_quat_l1_ideal_err: 0.0340, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7391, per_task/push_buttons_rot_acc_0.05: 0.7391, per_task/push_buttons_rot_ideal_acc_0.025: 0.7391, per_task/push_buttons_rot_ideal_acc_0.05: 0.7391, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0096, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5059, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5059, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6579, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3158, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5526, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3158, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5526, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0044, per_task/put_item_in_drawer_quat_l1_err: 0.4888, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4888, per_task/put_item_in_drawer_pos_acc_0.01: 0.9677, per_task/put_item_in_drawer_rot_acc_0.025: 0.4839, per_task/put_item_in_drawer_rot_acc_0.05: 0.6452, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4839, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6452, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0064, per_task/put_money_in_safe_quat_l1_err: 0.3603, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3603, per_task/put_money_in_safe_pos_acc_0.01: 0.8776, per_task/put_money_in_safe_rot_acc_0.025: 0.0408, per_task/put_money_in_safe_rot_acc_0.05: 0.4490, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0408, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4490, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0040, per_task/reach_and_drag_quat_l1_err: 0.2556, per_task/reach_and_drag_quat_l1_ideal_err: 0.2556, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3333, per_task/reach_and_drag_rot_acc_0.05: 0.5238, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5238, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0057, per_task/slide_block_to_color_target_quat_l1_err: 0.5394, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5394, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9394, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3030, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4545, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3030, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4545, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0069, per_task/stack_blocks_quat_l1_err: 0.3957, per_task/stack_blocks_quat_l1_ideal_err: 0.3957, per_task/stack_blocks_pos_acc_0.01: 0.9127, per_task/stack_blocks_rot_acc_0.025: 0.5794, per_task/stack_blocks_rot_acc_0.05: 0.6349, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5794, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6349, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0057, per_task/stack_cups_quat_l1_err: 0.1962, per_task/stack_cups_quat_l1_ideal_err: 0.1962, per_task/stack_cups_pos_acc_0.01: 0.8913, per_task/stack_cups_rot_acc_0.025: 0.4457, per_task/stack_cups_rot_acc_0.05: 0.6522, per_task/stack_cups_rot_ideal_acc_0.025: 0.4457, per_task/stack_cups_rot_ideal_acc_0.05: 0.6522, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0187, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2595, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2595, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9259, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7778, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7778, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7778, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7778, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0050, per_task/turn_tap_quat_l1_err: 1.7366, per_task/turn_tap_quat_l1_ideal_err: 1.7366, per_task/turn_tap_pos_acc_0.01: 0.9545, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 10:19:02 - INFO - __main__ - =============================================== +04/29/2025 10:25:57 - INFO - __main__ - ==============Epoch 567 Step 67500=============== +04/29/2025 10:25:57 - INFO - __main__ - loss_pos:0.0994, loss_rot:0.1785, loss_open:0.0017, loss_total:2.1672 +04/29/2025 10:25:57 - INFO - __main__ - =============================================== +04/29/2025 10:32:47 - INFO - __main__ - ==============Epoch 571 Step 68000=============== +04/29/2025 10:32:48 - INFO - __main__ - loss_pos:0.0993, loss_rot:0.1754, loss_open:0.0023, loss_total:2.1637 +04/29/2025 10:32:48 - INFO - __main__ - =============================================== +04/29/2025 10:33:19 - INFO - __main__ - =================Validation================= +04/29/2025 10:33:19 - INFO - __main__ - total/pos_l2_err: 0.0060, total/quat_l1_err: 0.3776, total/quat_l1_ideal_err: 0.3776, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9180, total/rot_acc_0.025: 0.4640, total/rot_acc_0.05: 0.6130, total/rot_ideal_acc_0.025: 0.4640, total/rot_ideal_acc_0.05: 0.6130, per_task/close_jar_pos_l2_err: 0.0052, per_task/close_jar_quat_l1_err: 0.2899, per_task/close_jar_quat_l1_ideal_err: 0.2899, per_task/close_jar_pos_acc_0.01: 0.9444, per_task/close_jar_rot_acc_0.025: 0.5556, per_task/close_jar_rot_acc_0.05: 0.5556, per_task/close_jar_rot_ideal_acc_0.025: 0.5556, per_task/close_jar_rot_ideal_acc_0.05: 0.5556, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0046, per_task/insert_onto_square_peg_quat_l1_err: 0.1791, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.1791, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9318, per_task/insert_onto_square_peg_rot_acc_0.025: 0.7045, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7500, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.7045, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7500, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0041, per_task/light_bulb_in_quat_l1_err: 0.3543, per_task/light_bulb_in_quat_l1_ideal_err: 0.3543, per_task/light_bulb_in_pos_acc_0.01: 0.9796, per_task/light_bulb_in_rot_acc_0.025: 0.6327, per_task/light_bulb_in_rot_acc_0.05: 0.6531, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6327, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6531, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0045, per_task/open_drawer_quat_l1_err: 0.9695, per_task/open_drawer_quat_l1_ideal_err: 0.9695, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4167, per_task/open_drawer_rot_acc_0.05: 0.5833, per_task/open_drawer_rot_ideal_acc_0.025: 0.4167, per_task/open_drawer_rot_ideal_acc_0.05: 0.5833, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0052, per_task/place_cups_quat_l1_err: 0.3873, per_task/place_cups_quat_l1_ideal_err: 0.3873, per_task/place_cups_pos_acc_0.01: 0.9167, per_task/place_cups_rot_acc_0.025: 0.2167, per_task/place_cups_rot_acc_0.05: 0.6750, per_task/place_cups_rot_ideal_acc_0.025: 0.2167, per_task/place_cups_rot_ideal_acc_0.05: 0.6750, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0069, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3764, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3764, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7714, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4286, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5429, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4286, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5429, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0064, per_task/place_wine_at_rack_location_quat_l1_err: 0.7290, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7290, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8333, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3571, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4048, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3571, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4048, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0044, per_task/push_buttons_quat_l1_err: 0.0296, per_task/push_buttons_quat_l1_ideal_err: 0.0296, per_task/push_buttons_pos_acc_0.01: 0.9750, per_task/push_buttons_rot_acc_0.025: 0.7750, per_task/push_buttons_rot_acc_0.05: 0.7750, per_task/push_buttons_rot_ideal_acc_0.025: 0.7750, per_task/push_buttons_rot_ideal_acc_0.05: 0.7750, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0044, per_task/put_item_in_drawer_quat_l1_err: 0.4578, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4578, per_task/put_item_in_drawer_pos_acc_0.01: 0.9903, per_task/put_item_in_drawer_rot_acc_0.025: 0.5534, per_task/put_item_in_drawer_rot_acc_0.05: 0.6893, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5534, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6893, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0051, per_task/put_money_in_safe_quat_l1_err: 0.3412, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3412, per_task/put_money_in_safe_pos_acc_0.01: 0.9245, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.3962, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3962, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.3192, per_task/reach_and_drag_quat_l1_ideal_err: 0.3192, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2857, per_task/reach_and_drag_rot_acc_0.05: 0.4286, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2857, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4286, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0057, per_task/slide_block_to_color_target_quat_l1_err: 0.6363, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6363, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9310, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2759, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4483, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2759, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4483, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0053, per_task/stack_blocks_quat_l1_err: 0.2838, per_task/stack_blocks_quat_l1_ideal_err: 0.2838, per_task/stack_blocks_pos_acc_0.01: 0.8841, per_task/stack_blocks_rot_acc_0.025: 0.5870, per_task/stack_blocks_rot_acc_0.05: 0.6957, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5870, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6957, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0051, per_task/stack_cups_quat_l1_err: 0.2311, per_task/stack_cups_quat_l1_ideal_err: 0.2311, per_task/stack_cups_pos_acc_0.01: 0.9625, per_task/stack_cups_rot_acc_0.025: 0.4375, per_task/stack_cups_rot_acc_0.05: 0.5250, per_task/stack_cups_rot_ideal_acc_0.025: 0.4375, per_task/stack_cups_rot_ideal_acc_0.05: 0.5250, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0237, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2118, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2118, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9250, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8000, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8000, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0061, per_task/turn_tap_quat_l1_err: 1.9892, per_task/turn_tap_quat_l1_ideal_err: 1.9892, per_task/turn_tap_pos_acc_0.01: 0.8824, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9412, per_task/turn_tap_open_acc_ideal: 0.9412, per_task/meat_off_grill_pos_l2_err: 0.0043, per_task/meat_off_grill_quat_l1_err: 0.1482, per_task/meat_off_grill_quat_l1_ideal_err: 0.1482, per_task/meat_off_grill_pos_acc_0.01: 0.9767, per_task/meat_off_grill_rot_acc_0.025: 0.6512, per_task/meat_off_grill_rot_acc_0.05: 0.7907, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6512, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7907, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0099, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4091, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4091, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5750, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.5000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.5000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6500, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000 +04/29/2025 10:33:19 - INFO - __main__ - =============================================== +04/29/2025 10:40:12 - INFO - __main__ - ==============Epoch 575 Step 68500=============== +04/29/2025 10:40:13 - INFO - __main__ - loss_pos:0.0993, loss_rot:0.1780, loss_open:0.0022, loss_total:2.1668 +04/29/2025 10:40:13 - INFO - __main__ - =============================================== +04/29/2025 10:47:07 - INFO - __main__ - ==============Epoch 579 Step 69000=============== +04/29/2025 10:47:07 - INFO - __main__ - loss_pos:0.0992, loss_rot:0.1767, loss_open:0.0020, loss_total:2.1631 +04/29/2025 10:47:07 - INFO - __main__ - =============================================== +04/29/2025 10:47:38 - INFO - __main__ - =================Validation================= +04/29/2025 10:47:38 - INFO - __main__ - total/pos_l2_err: 0.0079, total/quat_l1_err: 0.3678, total/quat_l1_ideal_err: 0.3678, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9130, total/rot_acc_0.025: 0.4560, total/rot_acc_0.05: 0.6300, total/rot_ideal_acc_0.025: 0.4560, total/rot_ideal_acc_0.05: 0.6300, per_task/close_jar_pos_l2_err: 0.0051, per_task/close_jar_quat_l1_err: 0.2341, per_task/close_jar_quat_l1_ideal_err: 0.2341, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.5500, per_task/close_jar_rot_acc_0.05: 0.6750, per_task/close_jar_rot_ideal_acc_0.025: 0.5500, per_task/close_jar_rot_ideal_acc_0.05: 0.6750, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0051, per_task/insert_onto_square_peg_quat_l1_err: 0.3666, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3666, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5476, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6429, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5476, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6429, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0053, per_task/light_bulb_in_quat_l1_err: 0.3584, per_task/light_bulb_in_quat_l1_ideal_err: 0.3584, per_task/light_bulb_in_pos_acc_0.01: 0.9206, per_task/light_bulb_in_rot_acc_0.025: 0.5397, per_task/light_bulb_in_rot_acc_0.05: 0.5714, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5397, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5714, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0049, per_task/meat_off_grill_quat_l1_err: 0.2531, per_task/meat_off_grill_quat_l1_ideal_err: 0.2531, per_task/meat_off_grill_pos_acc_0.01: 0.9815, per_task/meat_off_grill_rot_acc_0.025: 0.6296, per_task/meat_off_grill_rot_acc_0.05: 0.7407, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6296, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7407, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0048, per_task/open_drawer_quat_l1_err: 0.9850, per_task/open_drawer_quat_l1_ideal_err: 0.9850, per_task/open_drawer_pos_acc_0.01: 0.9583, per_task/open_drawer_rot_acc_0.025: 0.2500, per_task/open_drawer_rot_acc_0.05: 0.5000, per_task/open_drawer_rot_ideal_acc_0.025: 0.2500, per_task/open_drawer_rot_ideal_acc_0.05: 0.5000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0058, per_task/place_cups_quat_l1_err: 0.3690, per_task/place_cups_quat_l1_ideal_err: 0.3690, per_task/place_cups_pos_acc_0.01: 0.8837, per_task/place_cups_rot_acc_0.025: 0.2946, per_task/place_cups_rot_acc_0.05: 0.6512, per_task/place_cups_rot_ideal_acc_0.025: 0.2946, per_task/place_cups_rot_ideal_acc_0.05: 0.6512, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0065, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3666, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3666, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8571, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5143, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6286, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5143, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6286, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0066, per_task/place_wine_at_rack_location_quat_l1_err: 0.9323, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9323, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8750, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2500, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3750, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2500, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3750, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0062, per_task/push_buttons_quat_l1_err: 0.0263, per_task/push_buttons_quat_l1_ideal_err: 0.0263, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.8000, per_task/push_buttons_rot_acc_0.05: 0.8000, per_task/push_buttons_rot_ideal_acc_0.025: 0.8000, per_task/push_buttons_rot_ideal_acc_0.05: 0.8000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0100, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5658, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5658, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5833, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4375, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5417, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4375, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5417, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0042, per_task/put_item_in_drawer_quat_l1_err: 0.4850, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4850, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.4681, per_task/put_item_in_drawer_rot_acc_0.05: 0.6489, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4681, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6489, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0056, per_task/put_money_in_safe_quat_l1_err: 0.2282, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2282, per_task/put_money_in_safe_pos_acc_0.01: 0.8824, per_task/put_money_in_safe_rot_acc_0.025: 0.0196, per_task/put_money_in_safe_rot_acc_0.05: 0.5686, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0196, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5686, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.3005, per_task/reach_and_drag_quat_l1_ideal_err: 0.3005, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3704, per_task/reach_and_drag_rot_acc_0.05: 0.5926, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3704, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5926, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0064, per_task/slide_block_to_color_target_quat_l1_err: 0.4223, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4223, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8056, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4167, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5833, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4167, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5833, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0056, per_task/stack_blocks_quat_l1_err: 0.3187, per_task/stack_blocks_quat_l1_ideal_err: 0.3187, per_task/stack_blocks_pos_acc_0.01: 0.9286, per_task/stack_blocks_rot_acc_0.025: 0.5786, per_task/stack_blocks_rot_acc_0.05: 0.6929, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5786, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6929, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0054, per_task/stack_cups_quat_l1_err: 0.0908, per_task/stack_cups_quat_l1_ideal_err: 0.0908, per_task/stack_cups_pos_acc_0.01: 0.9620, per_task/stack_cups_rot_acc_0.025: 0.3924, per_task/stack_cups_rot_acc_0.05: 0.5696, per_task/stack_cups_rot_ideal_acc_0.025: 0.3924, per_task/stack_cups_rot_ideal_acc_0.05: 0.5696, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0610, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2066, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2066, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.7561, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8293, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8293, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8293, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8293, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0062, per_task/turn_tap_quat_l1_err: 2.1191, per_task/turn_tap_quat_l1_ideal_err: 2.1191, per_task/turn_tap_pos_acc_0.01: 0.9091, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 10:47:38 - INFO - __main__ - =============================================== +04/29/2025 10:54:36 - INFO - __main__ - ==============Epoch 584 Step 69500=============== +04/29/2025 10:54:36 - INFO - __main__ - loss_pos:0.0991, loss_rot:0.1729, loss_open:0.0026, loss_total:2.1578 +04/29/2025 10:54:36 - INFO - __main__ - =============================================== +04/29/2025 11:01:31 - INFO - __main__ - ==============Epoch 588 Step 70000=============== +04/29/2025 11:01:31 - INFO - __main__ - loss_pos:0.0991, loss_rot:0.1790, loss_open:0.0028, loss_total:2.1634 +04/29/2025 11:01:31 - INFO - __main__ - =============================================== +04/29/2025 11:02:03 - INFO - __main__ - =================Validation================= +04/29/2025 11:02:03 - INFO - __main__ - total/pos_l2_err: 0.0059, total/quat_l1_err: 0.4115, total/quat_l1_ideal_err: 0.4115, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9310, total/rot_acc_0.025: 0.4240, total/rot_acc_0.05: 0.5930, total/rot_ideal_acc_0.025: 0.4240, total/rot_ideal_acc_0.05: 0.5930, per_task/close_jar_pos_l2_err: 0.0050, per_task/close_jar_quat_l1_err: 0.2111, per_task/close_jar_quat_l1_ideal_err: 0.2111, per_task/close_jar_pos_acc_0.01: 0.9787, per_task/close_jar_rot_acc_0.025: 0.5106, per_task/close_jar_rot_acc_0.05: 0.6383, per_task/close_jar_rot_ideal_acc_0.025: 0.5106, per_task/close_jar_rot_ideal_acc_0.05: 0.6383, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0049, per_task/insert_onto_square_peg_quat_l1_err: 0.4658, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4658, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9804, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5686, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5686, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0038, per_task/light_bulb_in_quat_l1_err: 0.4499, per_task/light_bulb_in_quat_l1_ideal_err: 0.4499, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.5385, per_task/light_bulb_in_rot_acc_0.05: 0.5385, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5385, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5385, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0041, per_task/meat_off_grill_quat_l1_err: 0.1722, per_task/meat_off_grill_quat_l1_ideal_err: 0.1722, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6286, per_task/meat_off_grill_rot_acc_0.05: 0.7714, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6286, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7714, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0044, per_task/open_drawer_quat_l1_err: 1.1683, per_task/open_drawer_quat_l1_ideal_err: 1.1683, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.3750, per_task/open_drawer_rot_acc_0.05: 0.5000, per_task/open_drawer_rot_ideal_acc_0.025: 0.3750, per_task/open_drawer_rot_ideal_acc_0.05: 0.5000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0052, per_task/place_cups_quat_l1_err: 0.4050, per_task/place_cups_quat_l1_ideal_err: 0.4050, per_task/place_cups_pos_acc_0.01: 0.9098, per_task/place_cups_rot_acc_0.025: 0.1955, per_task/place_cups_rot_acc_0.05: 0.6617, per_task/place_cups_rot_ideal_acc_0.025: 0.1955, per_task/place_cups_rot_ideal_acc_0.05: 0.6617, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0061, per_task/place_wine_at_rack_location_quat_l1_err: 1.0608, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0608, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2600, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2600, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3000, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0046, per_task/push_buttons_quat_l1_err: 0.0394, per_task/push_buttons_quat_l1_ideal_err: 0.0394, per_task/push_buttons_pos_acc_0.01: 0.9697, per_task/push_buttons_rot_acc_0.025: 0.6970, per_task/push_buttons_rot_acc_0.05: 0.6970, per_task/push_buttons_rot_ideal_acc_0.025: 0.6970, per_task/push_buttons_rot_ideal_acc_0.05: 0.6970, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0090, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6032, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6032, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7143, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3810, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4762, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3810, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4762, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0040, per_task/put_item_in_drawer_quat_l1_err: 0.3813, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3813, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5795, per_task/put_item_in_drawer_rot_acc_0.05: 0.7386, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5795, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7386, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0050, per_task/put_money_in_safe_quat_l1_err: 0.2658, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2658, per_task/put_money_in_safe_pos_acc_0.01: 0.9474, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.5263, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5263, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0042, per_task/reach_and_drag_quat_l1_err: 0.2433, per_task/reach_and_drag_quat_l1_ideal_err: 0.2433, per_task/reach_and_drag_pos_acc_0.01: 0.9800, per_task/reach_and_drag_rot_acc_0.025: 0.3600, per_task/reach_and_drag_rot_acc_0.05: 0.5000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3600, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0054, per_task/slide_block_to_color_target_quat_l1_err: 0.2335, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.2335, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9677, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5484, per_task/slide_block_to_color_target_rot_acc_0.05: 0.7097, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5484, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.7097, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0049, per_task/stack_blocks_quat_l1_err: 0.4088, per_task/stack_blocks_quat_l1_ideal_err: 0.4088, per_task/stack_blocks_pos_acc_0.01: 0.9424, per_task/stack_blocks_rot_acc_0.025: 0.4964, per_task/stack_blocks_rot_acc_0.05: 0.5971, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4964, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5971, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0054, per_task/stack_cups_quat_l1_err: 0.1711, per_task/stack_cups_quat_l1_ideal_err: 0.1711, per_task/stack_cups_pos_acc_0.01: 0.9059, per_task/stack_cups_rot_acc_0.025: 0.4118, per_task/stack_cups_rot_acc_0.05: 0.6000, per_task/stack_cups_rot_ideal_acc_0.025: 0.4118, per_task/stack_cups_rot_ideal_acc_0.05: 0.6000, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0041, per_task/turn_tap_quat_l1_err: 1.7240, per_task/turn_tap_quat_l1_ideal_err: 1.7240, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0068, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4009, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4009, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7273, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3333, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4848, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3333, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4848, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0254, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1625, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1625, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9444, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8056, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8056, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8056, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8056, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000 +04/29/2025 11:02:03 - INFO - __main__ - =============================================== +04/29/2025 11:08:54 - INFO - __main__ - ==============Epoch 592 Step 70500=============== +04/29/2025 11:08:54 - INFO - __main__ - loss_pos:0.0989, loss_rot:0.1750, loss_open:0.0023, loss_total:2.1544 +04/29/2025 11:08:54 - INFO - __main__ - =============================================== +04/29/2025 11:15:46 - INFO - __main__ - ==============Epoch 596 Step 71000=============== +04/29/2025 11:15:46 - INFO - __main__ - loss_pos:0.0988, loss_rot:0.1754, loss_open:0.0017, loss_total:2.1534 +04/29/2025 11:15:46 - INFO - __main__ - =============================================== +04/29/2025 11:16:18 - INFO - __main__ - =================Validation================= +04/29/2025 11:16:18 - INFO - __main__ - total/pos_l2_err: 0.0050, total/quat_l1_err: 0.3901, total/quat_l1_ideal_err: 0.3901, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9540, total/rot_acc_0.025: 0.4480, total/rot_acc_0.05: 0.6240, total/rot_ideal_acc_0.025: 0.4480, total/rot_ideal_acc_0.05: 0.6240, per_task/close_jar_pos_l2_err: 0.0040, per_task/close_jar_quat_l1_err: 0.2108, per_task/close_jar_quat_l1_ideal_err: 0.2108, per_task/close_jar_pos_acc_0.01: 0.9796, per_task/close_jar_rot_acc_0.025: 0.6327, per_task/close_jar_rot_acc_0.05: 0.6735, per_task/close_jar_rot_ideal_acc_0.025: 0.6327, per_task/close_jar_rot_ideal_acc_0.05: 0.6735, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0046, per_task/insert_onto_square_peg_quat_l1_err: 0.6346, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.6346, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9762, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4048, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5238, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4048, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5238, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0038, per_task/light_bulb_in_quat_l1_err: 0.5620, per_task/light_bulb_in_quat_l1_ideal_err: 0.5620, per_task/light_bulb_in_pos_acc_0.01: 0.9672, per_task/light_bulb_in_rot_acc_0.025: 0.5082, per_task/light_bulb_in_rot_acc_0.05: 0.5410, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5082, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5410, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0039, per_task/meat_off_grill_quat_l1_err: 0.1950, per_task/meat_off_grill_quat_l1_ideal_err: 0.1950, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7407, per_task/meat_off_grill_rot_acc_0.05: 0.8148, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7407, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8148, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0038, per_task/open_drawer_quat_l1_err: 0.4363, per_task/open_drawer_quat_l1_ideal_err: 0.4363, per_task/open_drawer_pos_acc_0.01: 0.9545, per_task/open_drawer_rot_acc_0.025: 0.5455, per_task/open_drawer_rot_acc_0.05: 0.7727, per_task/open_drawer_rot_ideal_acc_0.025: 0.5455, per_task/open_drawer_rot_ideal_acc_0.05: 0.7727, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0043, per_task/place_cups_quat_l1_err: 0.3926, per_task/place_cups_quat_l1_ideal_err: 0.3926, per_task/place_cups_pos_acc_0.01: 0.9748, per_task/place_cups_rot_acc_0.025: 0.1933, per_task/place_cups_rot_acc_0.05: 0.6050, per_task/place_cups_rot_ideal_acc_0.025: 0.1933, per_task/place_cups_rot_ideal_acc_0.05: 0.6050, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0062, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3797, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3797, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9216, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4706, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6078, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4706, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6078, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0049, per_task/push_buttons_quat_l1_err: 0.0285, per_task/push_buttons_quat_l1_ideal_err: 0.0285, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7826, per_task/push_buttons_rot_acc_0.05: 0.7826, per_task/push_buttons_rot_ideal_acc_0.025: 0.7826, per_task/push_buttons_rot_ideal_acc_0.05: 0.7826, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0080, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6405, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6405, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7556, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4667, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5778, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4667, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5778, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0036, per_task/put_item_in_drawer_quat_l1_err: 0.3195, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3195, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.6020, per_task/put_item_in_drawer_rot_acc_0.05: 0.7653, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6020, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7653, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0047, per_task/put_money_in_safe_quat_l1_err: 0.3295, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3295, per_task/put_money_in_safe_pos_acc_0.01: 0.9091, per_task/put_money_in_safe_rot_acc_0.025: 0.0227, per_task/put_money_in_safe_rot_acc_0.05: 0.4318, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0227, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4318, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0044, per_task/reach_and_drag_quat_l1_err: 0.2883, per_task/reach_and_drag_quat_l1_ideal_err: 0.2883, per_task/reach_and_drag_pos_acc_0.01: 0.9500, per_task/reach_and_drag_rot_acc_0.025: 0.2333, per_task/reach_and_drag_rot_acc_0.05: 0.5167, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5167, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0053, per_task/slide_block_to_color_target_quat_l1_err: 0.6792, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6792, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3871, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4516, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3871, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4516, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0041, per_task/stack_blocks_quat_l1_err: 0.2052, per_task/stack_blocks_quat_l1_ideal_err: 0.2052, per_task/stack_blocks_pos_acc_0.01: 0.9728, per_task/stack_blocks_rot_acc_0.025: 0.5986, per_task/stack_blocks_rot_acc_0.05: 0.7755, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5986, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7755, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0045, per_task/stack_cups_quat_l1_err: 0.1724, per_task/stack_cups_quat_l1_ideal_err: 0.1724, per_task/stack_cups_pos_acc_0.01: 0.9753, per_task/stack_cups_rot_acc_0.025: 0.4198, per_task/stack_cups_rot_acc_0.05: 0.5679, per_task/stack_cups_rot_ideal_acc_0.025: 0.4198, per_task/stack_cups_rot_ideal_acc_0.05: 0.5679, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0179, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3497, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3497, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8929, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6786, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6786, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6786, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6786, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0066, per_task/place_wine_at_rack_location_quat_l1_err: 1.2661, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.2661, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8000, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1143, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2857, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1143, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2857, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0051, per_task/turn_tap_quat_l1_err: 2.0773, per_task/turn_tap_quat_l1_ideal_err: 2.0773, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9000, per_task/turn_tap_open_acc_ideal: 0.9000 +04/29/2025 11:16:18 - INFO - __main__ - =============================================== +04/29/2025 11:23:11 - INFO - __main__ - ==============Epoch 600 Step 71500=============== +04/29/2025 11:23:11 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1745, loss_open:0.0019, loss_total:2.1496 +04/29/2025 11:23:11 - INFO - __main__ - =============================================== +04/29/2025 11:30:10 - INFO - __main__ - ==============Epoch 605 Step 72000=============== +04/29/2025 11:30:10 - INFO - __main__ - loss_pos:0.0988, loss_rot:0.1743, loss_open:0.0017, loss_total:2.1513 +04/29/2025 11:30:10 - INFO - __main__ - =============================================== +04/29/2025 11:30:43 - INFO - __main__ - =================Validation================= +04/29/2025 11:30:43 - INFO - __main__ - total/pos_l2_err: 0.0061, total/quat_l1_err: 0.4358, total/quat_l1_ideal_err: 0.4358, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9234, total/rot_acc_0.025: 0.4229, total/rot_acc_0.05: 0.5813, total/rot_ideal_acc_0.025: 0.4229, total/rot_ideal_acc_0.05: 0.5813, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.3336, per_task/close_jar_quat_l1_ideal_err: 0.3336, per_task/close_jar_pos_acc_0.01: 0.9818, per_task/close_jar_rot_acc_0.025: 0.4909, per_task/close_jar_rot_acc_0.05: 0.5273, per_task/close_jar_rot_ideal_acc_0.025: 0.4909, per_task/close_jar_rot_ideal_acc_0.05: 0.5273, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0048, per_task/insert_onto_square_peg_quat_l1_err: 0.4823, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4823, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5349, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5581, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5349, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5581, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0041, per_task/light_bulb_in_quat_l1_err: 0.3088, per_task/light_bulb_in_quat_l1_ideal_err: 0.3088, per_task/light_bulb_in_pos_acc_0.01: 0.9583, per_task/light_bulb_in_rot_acc_0.025: 0.7083, per_task/light_bulb_in_rot_acc_0.05: 0.7500, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.7083, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.7500, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0041, per_task/meat_off_grill_quat_l1_err: 0.2876, per_task/meat_off_grill_quat_l1_ideal_err: 0.2876, per_task/meat_off_grill_pos_acc_0.01: 0.9231, per_task/meat_off_grill_rot_acc_0.025: 0.6923, per_task/meat_off_grill_rot_acc_0.05: 0.7692, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6923, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7692, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0039, per_task/open_drawer_quat_l1_err: 1.0043, per_task/open_drawer_quat_l1_ideal_err: 1.0043, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.3810, per_task/open_drawer_rot_acc_0.05: 0.5238, per_task/open_drawer_rot_ideal_acc_0.025: 0.3810, per_task/open_drawer_rot_ideal_acc_0.05: 0.5238, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0052, per_task/place_cups_quat_l1_err: 0.5134, per_task/place_cups_quat_l1_ideal_err: 0.5134, per_task/place_cups_pos_acc_0.01: 0.8872, per_task/place_cups_rot_acc_0.025: 0.2105, per_task/place_cups_rot_acc_0.05: 0.5714, per_task/place_cups_rot_ideal_acc_0.025: 0.2105, per_task/place_cups_rot_ideal_acc_0.05: 0.5714, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0065, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5659, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5659, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8919, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3784, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4595, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3784, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4595, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0055, per_task/place_wine_at_rack_location_quat_l1_err: 0.8109, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8109, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9500, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2250, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2250, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4000, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0051, per_task/push_buttons_quat_l1_err: 0.0378, per_task/push_buttons_quat_l1_ideal_err: 0.0378, per_task/push_buttons_pos_acc_0.01: 0.9355, per_task/push_buttons_rot_acc_0.025: 0.7097, per_task/push_buttons_rot_acc_0.05: 0.7097, per_task/push_buttons_rot_ideal_acc_0.025: 0.7097, per_task/push_buttons_rot_ideal_acc_0.05: 0.7097, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0087, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6349, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6349, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6364, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4242, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5455, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4242, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5455, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0035, per_task/put_item_in_drawer_quat_l1_err: 0.3864, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3864, per_task/put_item_in_drawer_pos_acc_0.01: 0.9895, per_task/put_item_in_drawer_rot_acc_0.025: 0.5368, per_task/put_item_in_drawer_rot_acc_0.05: 0.7053, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5368, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7053, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0053, per_task/put_money_in_safe_quat_l1_err: 0.2452, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2452, per_task/put_money_in_safe_pos_acc_0.01: 0.9000, per_task/put_money_in_safe_rot_acc_0.025: 0.0250, per_task/put_money_in_safe_rot_acc_0.05: 0.4250, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0250, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4250, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0038, per_task/reach_and_drag_quat_l1_err: 0.3369, per_task/reach_and_drag_quat_l1_ideal_err: 0.3369, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3158, per_task/reach_and_drag_rot_acc_0.05: 0.5263, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3158, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5263, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0054, per_task/slide_block_to_color_target_quat_l1_err: 0.5813, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5813, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9231, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3846, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5385, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3846, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5385, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0053, per_task/stack_blocks_quat_l1_err: 0.3916, per_task/stack_blocks_quat_l1_ideal_err: 0.3916, per_task/stack_blocks_pos_acc_0.01: 0.9106, per_task/stack_blocks_rot_acc_0.025: 0.4878, per_task/stack_blocks_rot_acc_0.05: 0.6016, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4878, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6016, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0053, per_task/stack_cups_quat_l1_err: 0.1296, per_task/stack_cups_quat_l1_ideal_err: 0.1296, per_task/stack_cups_pos_acc_0.01: 0.9205, per_task/stack_cups_rot_acc_0.025: 0.3636, per_task/stack_cups_rot_acc_0.05: 0.5909, per_task/stack_cups_rot_ideal_acc_0.025: 0.3636, per_task/stack_cups_rot_ideal_acc_0.05: 0.5909, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0288, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3350, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3350, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8913, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6739, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6739, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6739, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6739, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0054, per_task/turn_tap_quat_l1_err: 2.1138, per_task/turn_tap_quat_l1_ideal_err: 2.1138, per_task/turn_tap_pos_acc_0.01: 0.8824, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 11:30:43 - INFO - __main__ - =============================================== +04/29/2025 11:37:35 - INFO - __main__ - ==============Epoch 609 Step 72500=============== +04/29/2025 11:37:35 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1708, loss_open:0.0023, loss_total:2.1467 +04/29/2025 11:37:35 - INFO - __main__ - =============================================== +04/29/2025 11:44:24 - INFO - __main__ - ==============Epoch 613 Step 73000=============== +04/29/2025 11:44:24 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1707, loss_open:0.0018, loss_total:2.1471 +04/29/2025 11:44:24 - INFO - __main__ - =============================================== +04/29/2025 11:44:55 - INFO - __main__ - =================Validation================= +04/29/2025 11:44:55 - INFO - __main__ - total/pos_l2_err: 0.0070, total/quat_l1_err: 0.4033, total/quat_l1_ideal_err: 0.4033, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9310, total/rot_acc_0.025: 0.4390, total/rot_acc_0.05: 0.6030, total/rot_ideal_acc_0.025: 0.4390, total/rot_ideal_acc_0.05: 0.6030, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.2863, per_task/close_jar_quat_l1_ideal_err: 0.2863, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.5686, per_task/close_jar_rot_acc_0.05: 0.6471, per_task/close_jar_rot_ideal_acc_0.025: 0.5686, per_task/close_jar_rot_ideal_acc_0.05: 0.6471, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0043, per_task/insert_onto_square_peg_quat_l1_err: 0.3917, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3917, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9756, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5366, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6585, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5366, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6585, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0041, per_task/light_bulb_in_quat_l1_err: 0.5051, per_task/light_bulb_in_quat_l1_ideal_err: 0.5051, per_task/light_bulb_in_pos_acc_0.01: 0.9828, per_task/light_bulb_in_rot_acc_0.025: 0.4655, per_task/light_bulb_in_rot_acc_0.05: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4655, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5000, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0031, per_task/meat_off_grill_quat_l1_err: 0.1189, per_task/meat_off_grill_quat_l1_ideal_err: 0.1189, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.9111, per_task/meat_off_grill_rot_acc_0.05: 0.9111, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.9111, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.9111, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0070, per_task/open_drawer_quat_l1_err: 0.2219, per_task/open_drawer_quat_l1_ideal_err: 0.2219, per_task/open_drawer_pos_acc_0.01: 0.9130, per_task/open_drawer_rot_acc_0.025: 0.6522, per_task/open_drawer_rot_acc_0.05: 0.8261, per_task/open_drawer_rot_ideal_acc_0.025: 0.6522, per_task/open_drawer_rot_ideal_acc_0.05: 0.8261, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0054, per_task/place_cups_quat_l1_err: 0.2939, per_task/place_cups_quat_l1_ideal_err: 0.2939, per_task/place_cups_pos_acc_0.01: 0.9762, per_task/place_cups_rot_acc_0.025: 0.2619, per_task/place_cups_rot_acc_0.05: 0.6905, per_task/place_cups_rot_ideal_acc_0.025: 0.2619, per_task/place_cups_rot_ideal_acc_0.05: 0.6905, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0069, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3559, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3559, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.7895, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4737, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6053, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4737, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6053, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0090, per_task/place_wine_at_rack_location_quat_l1_err: 0.8906, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8906, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9286, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1607, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2679, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1607, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2679, per_task/place_wine_at_rack_location_open_acc: 0.9821, per_task/place_wine_at_rack_location_open_acc_ideal: 0.9821, per_task/push_buttons_pos_l2_err: 0.0040, per_task/push_buttons_quat_l1_err: 0.0220, per_task/push_buttons_quat_l1_ideal_err: 0.0220, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.8333, per_task/push_buttons_rot_acc_0.05: 0.8333, per_task/push_buttons_rot_ideal_acc_0.025: 0.8333, per_task/push_buttons_rot_ideal_acc_0.05: 0.8333, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0086, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5491, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5491, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7255, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4118, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5686, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4118, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5686, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0039, per_task/put_item_in_drawer_quat_l1_err: 0.4320, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4320, per_task/put_item_in_drawer_pos_acc_0.01: 0.9647, per_task/put_item_in_drawer_rot_acc_0.025: 0.5176, per_task/put_item_in_drawer_rot_acc_0.05: 0.6941, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5176, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6941, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0074, per_task/put_money_in_safe_quat_l1_err: 0.2684, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2684, per_task/put_money_in_safe_pos_acc_0.01: 0.9024, per_task/put_money_in_safe_rot_acc_0.025: 0.0244, per_task/put_money_in_safe_rot_acc_0.05: 0.5122, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0244, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5122, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.4175, per_task/reach_and_drag_quat_l1_ideal_err: 0.4175, per_task/reach_and_drag_pos_acc_0.01: 0.9773, per_task/reach_and_drag_rot_acc_0.025: 0.1591, per_task/reach_and_drag_rot_acc_0.05: 0.3409, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1591, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3409, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0057, per_task/slide_block_to_color_target_quat_l1_err: 0.4010, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4010, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8889, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4074, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6296, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4074, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6296, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0060, per_task/stack_blocks_quat_l1_err: 0.4376, per_task/stack_blocks_quat_l1_ideal_err: 0.4376, per_task/stack_blocks_pos_acc_0.01: 0.9375, per_task/stack_blocks_rot_acc_0.025: 0.5069, per_task/stack_blocks_rot_acc_0.05: 0.6250, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5069, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6250, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0055, per_task/stack_cups_quat_l1_err: 0.2184, per_task/stack_cups_quat_l1_ideal_err: 0.2184, per_task/stack_cups_pos_acc_0.01: 0.8800, per_task/stack_cups_rot_acc_0.025: 0.4133, per_task/stack_cups_rot_acc_0.05: 0.5467, per_task/stack_cups_rot_ideal_acc_0.025: 0.4133, per_task/stack_cups_rot_ideal_acc_0.05: 0.5467, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0360, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3762, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3762, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8958, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0061, per_task/turn_tap_quat_l1_err: 1.7272, per_task/turn_tap_quat_l1_ideal_err: 1.7272, per_task/turn_tap_pos_acc_0.01: 0.8824, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 11:44:55 - INFO - __main__ - =============================================== +04/29/2025 11:51:49 - INFO - __main__ - ==============Epoch 617 Step 73500=============== +04/29/2025 11:51:49 - INFO - __main__ - loss_pos:0.0988, loss_rot:0.1725, loss_open:0.0025, loss_total:2.1513 +04/29/2025 11:51:49 - INFO - __main__ - =============================================== +04/29/2025 11:58:42 - INFO - __main__ - ==============Epoch 621 Step 74000=============== +04/29/2025 11:58:43 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1753, loss_open:0.0030, loss_total:2.1520 +04/29/2025 11:58:43 - INFO - __main__ - =============================================== +04/29/2025 11:59:14 - INFO - __main__ - =================Validation================= +04/29/2025 11:59:14 - INFO - __main__ - total/pos_l2_err: 0.0063, total/quat_l1_err: 0.3883, total/quat_l1_ideal_err: 0.3883, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9450, total/rot_acc_0.025: 0.4460, total/rot_acc_0.05: 0.6120, total/rot_ideal_acc_0.025: 0.4460, total/rot_ideal_acc_0.05: 0.6120, per_task/close_jar_pos_l2_err: 0.0044, per_task/close_jar_quat_l1_err: 0.1980, per_task/close_jar_quat_l1_ideal_err: 0.1980, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.5909, per_task/close_jar_rot_acc_0.05: 0.7045, per_task/close_jar_rot_ideal_acc_0.025: 0.5909, per_task/close_jar_rot_ideal_acc_0.05: 0.7045, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0043, per_task/insert_onto_square_peg_quat_l1_err: 0.5286, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5286, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4390, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4878, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4390, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4878, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0048, per_task/light_bulb_in_quat_l1_err: 0.3665, per_task/light_bulb_in_quat_l1_ideal_err: 0.3665, per_task/light_bulb_in_pos_acc_0.01: 0.9492, per_task/light_bulb_in_rot_acc_0.025: 0.5254, per_task/light_bulb_in_rot_acc_0.05: 0.5932, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5254, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5932, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0038, per_task/meat_off_grill_quat_l1_err: 0.3886, per_task/meat_off_grill_quat_l1_ideal_err: 0.3886, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.5957, per_task/meat_off_grill_rot_acc_0.05: 0.7234, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5957, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7234, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0040, per_task/open_drawer_quat_l1_err: 0.4741, per_task/open_drawer_quat_l1_ideal_err: 0.4741, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.6000, per_task/open_drawer_rot_acc_0.05: 0.8000, per_task/open_drawer_rot_ideal_acc_0.025: 0.6000, per_task/open_drawer_rot_ideal_acc_0.05: 0.8000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0050, per_task/place_cups_quat_l1_err: 0.4008, per_task/place_cups_quat_l1_ideal_err: 0.4008, per_task/place_cups_pos_acc_0.01: 0.9524, per_task/place_cups_rot_acc_0.025: 0.2460, per_task/place_cups_rot_acc_0.05: 0.6349, per_task/place_cups_rot_ideal_acc_0.025: 0.2460, per_task/place_cups_rot_ideal_acc_0.05: 0.6349, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0055, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4459, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4459, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8966, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4828, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5862, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4828, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5862, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0054, per_task/place_wine_at_rack_location_quat_l1_err: 0.6590, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6590, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9574, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2766, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4468, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2766, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4468, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0085, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5386, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5386, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6957, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3913, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5435, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3913, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5435, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0036, per_task/put_item_in_drawer_quat_l1_err: 0.3588, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3588, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5000, per_task/put_item_in_drawer_rot_acc_0.05: 0.7553, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5000, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7553, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0068, per_task/put_money_in_safe_quat_l1_err: 0.3425, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3425, per_task/put_money_in_safe_pos_acc_0.01: 0.8182, per_task/put_money_in_safe_rot_acc_0.025: 0.0682, per_task/put_money_in_safe_rot_acc_0.05: 0.4545, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0682, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4545, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0039, per_task/reach_and_drag_quat_l1_err: 0.2761, per_task/reach_and_drag_quat_l1_ideal_err: 0.2761, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3000, per_task/reach_and_drag_rot_acc_0.05: 0.4800, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3000, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4800, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0051, per_task/slide_block_to_color_target_quat_l1_err: 0.4719, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4719, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9444, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4167, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5278, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4167, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5278, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0047, per_task/stack_blocks_quat_l1_err: 0.3738, per_task/stack_blocks_quat_l1_ideal_err: 0.3738, per_task/stack_blocks_pos_acc_0.01: 0.9580, per_task/stack_blocks_rot_acc_0.025: 0.5944, per_task/stack_blocks_rot_acc_0.05: 0.6503, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5944, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6503, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0050, per_task/stack_cups_quat_l1_err: 0.1188, per_task/stack_cups_quat_l1_ideal_err: 0.1188, per_task/stack_cups_pos_acc_0.01: 0.9351, per_task/stack_cups_rot_acc_0.025: 0.3896, per_task/stack_cups_rot_acc_0.05: 0.5974, per_task/stack_cups_rot_ideal_acc_0.025: 0.3896, per_task/stack_cups_rot_ideal_acc_0.05: 0.5974, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0351, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3224, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3224, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8750, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0040, per_task/push_buttons_quat_l1_err: 0.0232, per_task/push_buttons_quat_l1_ideal_err: 0.0232, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.8235, per_task/push_buttons_rot_acc_0.05: 0.8235, per_task/push_buttons_rot_ideal_acc_0.025: 0.8235, per_task/push_buttons_rot_ideal_acc_0.05: 0.8235, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0042, per_task/turn_tap_quat_l1_err: 2.0589, per_task/turn_tap_quat_l1_ideal_err: 2.0589, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 11:59:14 - INFO - __main__ - =============================================== +04/29/2025 12:06:14 - INFO - __main__ - ==============Epoch 626 Step 74500=============== +04/29/2025 12:06:14 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1711, loss_open:0.0017, loss_total:2.1458 +04/29/2025 12:06:14 - INFO - __main__ - =============================================== +04/29/2025 12:13:05 - INFO - __main__ - ==============Epoch 630 Step 75000=============== +04/29/2025 12:13:05 - INFO - __main__ - loss_pos:0.0988, loss_rot:0.1723, loss_open:0.0024, loss_total:2.1499 +04/29/2025 12:13:05 - INFO - __main__ - =============================================== +04/29/2025 12:13:36 - INFO - __main__ - =================Validation================= +04/29/2025 12:13:37 - INFO - __main__ - total/pos_l2_err: 0.0056, total/quat_l1_err: 0.4098, total/quat_l1_ideal_err: 0.4098, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9410, total/rot_acc_0.025: 0.4810, total/rot_acc_0.05: 0.6150, total/rot_ideal_acc_0.025: 0.4810, total/rot_ideal_acc_0.05: 0.6150, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.1810, per_task/close_jar_quat_l1_ideal_err: 0.1810, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.6667, per_task/close_jar_rot_acc_0.05: 0.6875, per_task/close_jar_rot_ideal_acc_0.025: 0.6667, per_task/close_jar_rot_ideal_acc_0.05: 0.6875, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0041, per_task/insert_onto_square_peg_quat_l1_err: 0.5168, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5168, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9762, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5714, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5714, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0044, per_task/light_bulb_in_quat_l1_err: 0.3586, per_task/light_bulb_in_quat_l1_ideal_err: 0.3586, per_task/light_bulb_in_pos_acc_0.01: 0.9524, per_task/light_bulb_in_rot_acc_0.025: 0.6667, per_task/light_bulb_in_rot_acc_0.05: 0.6825, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6667, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6825, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0040, per_task/meat_off_grill_quat_l1_err: 0.1094, per_task/meat_off_grill_quat_l1_ideal_err: 0.1094, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.8421, per_task/meat_off_grill_rot_acc_0.05: 0.8947, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.8421, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8947, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0036, per_task/open_drawer_quat_l1_err: 0.7544, per_task/open_drawer_quat_l1_ideal_err: 0.7544, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4800, per_task/open_drawer_rot_acc_0.05: 0.6400, per_task/open_drawer_rot_ideal_acc_0.025: 0.4800, per_task/open_drawer_rot_ideal_acc_0.05: 0.6400, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0047, per_task/place_cups_quat_l1_err: 0.4597, per_task/place_cups_quat_l1_ideal_err: 0.4597, per_task/place_cups_pos_acc_0.01: 0.9516, per_task/place_cups_rot_acc_0.025: 0.2016, per_task/place_cups_rot_acc_0.05: 0.6290, per_task/place_cups_rot_ideal_acc_0.025: 0.2016, per_task/place_cups_rot_ideal_acc_0.05: 0.6290, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0063, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4372, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4372, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8542, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5208, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6042, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5208, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6042, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0059, per_task/place_wine_at_rack_location_quat_l1_err: 1.1576, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1576, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9394, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2727, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3333, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2727, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3333, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0046, per_task/push_buttons_quat_l1_err: 0.0167, per_task/push_buttons_quat_l1_ideal_err: 0.0167, per_task/push_buttons_pos_acc_0.01: 0.9688, per_task/push_buttons_rot_acc_0.025: 0.8750, per_task/push_buttons_rot_acc_0.05: 0.8750, per_task/push_buttons_rot_ideal_acc_0.025: 0.8750, per_task/push_buttons_rot_ideal_acc_0.05: 0.8750, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0094, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5128, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5128, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6111, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3889, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5278, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3889, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5278, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0034, per_task/put_item_in_drawer_quat_l1_err: 0.4016, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4016, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5570, per_task/put_item_in_drawer_rot_acc_0.05: 0.6962, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5570, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6962, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0060, per_task/put_money_in_safe_quat_l1_err: 0.3142, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3142, per_task/put_money_in_safe_pos_acc_0.01: 0.8750, per_task/put_money_in_safe_rot_acc_0.025: 0.0208, per_task/put_money_in_safe_rot_acc_0.05: 0.4583, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0208, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4583, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.4309, per_task/reach_and_drag_quat_l1_ideal_err: 0.4309, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2222, per_task/reach_and_drag_rot_acc_0.05: 0.3556, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2222, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.3556, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0054, per_task/slide_block_to_color_target_quat_l1_err: 0.7946, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.7946, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9655, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3103, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3793, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3103, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3793, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0048, per_task/stack_blocks_quat_l1_err: 0.3321, per_task/stack_blocks_quat_l1_ideal_err: 0.3321, per_task/stack_blocks_pos_acc_0.01: 0.9304, per_task/stack_blocks_rot_acc_0.025: 0.6139, per_task/stack_blocks_rot_acc_0.05: 0.6772, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6139, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6772, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0048, per_task/stack_cups_quat_l1_err: 0.0735, per_task/stack_cups_quat_l1_ideal_err: 0.0735, per_task/stack_cups_pos_acc_0.01: 0.9655, per_task/stack_cups_rot_acc_0.025: 0.5287, per_task/stack_cups_rot_acc_0.05: 0.6322, per_task/stack_cups_rot_ideal_acc_0.025: 0.5287, per_task/stack_cups_rot_ideal_acc_0.05: 0.6322, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0211, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3032, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3032, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9130, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7391, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7391, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7391, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7391, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0041, per_task/turn_tap_quat_l1_err: 1.9240, per_task/turn_tap_quat_l1_ideal_err: 1.9240, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 12:13:37 - INFO - __main__ - =============================================== +04/29/2025 12:20:31 - INFO - __main__ - ==============Epoch 634 Step 75500=============== +04/29/2025 12:20:31 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1743, loss_open:0.0028, loss_total:2.1476 +04/29/2025 12:20:31 - INFO - __main__ - =============================================== +04/29/2025 12:27:23 - INFO - __main__ - ==============Epoch 638 Step 76000=============== +04/29/2025 12:27:24 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1743, loss_open:0.0023, loss_total:2.1498 +04/29/2025 12:27:24 - INFO - __main__ - =============================================== +04/29/2025 12:27:54 - INFO - __main__ - =================Validation================= +04/29/2025 12:27:54 - INFO - __main__ - total/pos_l2_err: 0.0065, total/quat_l1_err: 0.3802, total/quat_l1_ideal_err: 0.3803, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9400, total/rot_acc_0.025: 0.4550, total/rot_acc_0.05: 0.6120, total/rot_ideal_acc_0.025: 0.4550, total/rot_ideal_acc_0.05: 0.6120, per_task/close_jar_pos_l2_err: 0.0049, per_task/close_jar_quat_l1_err: 0.2245, per_task/close_jar_quat_l1_ideal_err: 0.2245, per_task/close_jar_pos_acc_0.01: 0.9574, per_task/close_jar_rot_acc_0.025: 0.5957, per_task/close_jar_rot_acc_0.05: 0.5957, per_task/close_jar_rot_ideal_acc_0.025: 0.5957, per_task/close_jar_rot_ideal_acc_0.05: 0.5957, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0045, per_task/insert_onto_square_peg_quat_l1_err: 0.6186, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.6186, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3514, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4865, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3514, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4865, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0042, per_task/light_bulb_in_quat_l1_err: 0.4341, per_task/light_bulb_in_quat_l1_ideal_err: 0.4341, per_task/light_bulb_in_pos_acc_0.01: 0.9821, per_task/light_bulb_in_rot_acc_0.025: 0.5000, per_task/light_bulb_in_rot_acc_0.05: 0.5179, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5179, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0035, per_task/meat_off_grill_quat_l1_err: 0.2055, per_task/meat_off_grill_quat_l1_ideal_err: 0.2055, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7021, per_task/meat_off_grill_rot_acc_0.05: 0.8085, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7021, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8085, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0036, per_task/open_drawer_quat_l1_err: 0.7226, per_task/open_drawer_quat_l1_ideal_err: 0.7226, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.5000, per_task/open_drawer_rot_acc_0.05: 0.6538, per_task/open_drawer_rot_ideal_acc_0.025: 0.5000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6538, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0045, per_task/place_cups_quat_l1_err: 0.3863, per_task/place_cups_quat_l1_ideal_err: 0.3863, per_task/place_cups_pos_acc_0.01: 0.9850, per_task/place_cups_rot_acc_0.025: 0.2030, per_task/place_cups_rot_acc_0.05: 0.6541, per_task/place_cups_rot_ideal_acc_0.025: 0.2030, per_task/place_cups_rot_ideal_acc_0.05: 0.6541, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0063, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3811, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3811, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8679, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5094, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6038, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5094, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6038, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0049, per_task/place_wine_at_rack_location_quat_l1_err: 0.9712, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9712, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9302, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3023, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3953, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3023, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3953, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0046, per_task/push_buttons_quat_l1_err: 0.0371, per_task/push_buttons_quat_l1_ideal_err: 0.0371, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7143, per_task/push_buttons_rot_acc_0.05: 0.7143, per_task/push_buttons_rot_ideal_acc_0.025: 0.7143, per_task/push_buttons_rot_ideal_acc_0.05: 0.7143, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0100, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6047, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6047, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6000, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3714, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5143, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3714, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5143, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0037, per_task/put_item_in_drawer_quat_l1_err: 0.3239, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3239, per_task/put_item_in_drawer_pos_acc_0.01: 0.9891, per_task/put_item_in_drawer_rot_acc_0.025: 0.5543, per_task/put_item_in_drawer_rot_acc_0.05: 0.7283, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5543, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7283, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0072, per_task/put_money_in_safe_quat_l1_err: 0.3159, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3159, per_task/put_money_in_safe_pos_acc_0.01: 0.7500, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.3864, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3864, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0040, per_task/reach_and_drag_quat_l1_err: 0.2714, per_task/reach_and_drag_quat_l1_ideal_err: 0.2714, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3750, per_task/reach_and_drag_rot_acc_0.05: 0.5500, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3750, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5500, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0069, per_task/slide_block_to_color_target_quat_l1_err: 0.3306, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3336, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8857, per_task/slide_block_to_color_target_rot_acc_0.025: 0.6000, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6857, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.6000, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6857, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0046, per_task/stack_blocks_quat_l1_err: 0.3096, per_task/stack_blocks_quat_l1_ideal_err: 0.3096, per_task/stack_blocks_pos_acc_0.01: 0.9632, per_task/stack_blocks_rot_acc_0.025: 0.6176, per_task/stack_blocks_rot_acc_0.05: 0.7279, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6176, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7279, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0047, per_task/stack_cups_quat_l1_err: 0.1249, per_task/stack_cups_quat_l1_ideal_err: 0.1249, per_task/stack_cups_pos_acc_0.01: 0.9535, per_task/stack_cups_rot_acc_0.025: 0.4186, per_task/stack_cups_rot_acc_0.05: 0.5349, per_task/stack_cups_rot_ideal_acc_0.025: 0.4186, per_task/stack_cups_rot_ideal_acc_0.05: 0.5349, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0440, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2294, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2294, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8919, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7568, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7568, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7568, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7568, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0150, per_task/turn_tap_quat_l1_err: 1.7082, per_task/turn_tap_quat_l1_ideal_err: 1.7082, per_task/turn_tap_pos_acc_0.01: 0.8889, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 12:27:54 - INFO - __main__ - =============================================== +04/29/2025 12:34:48 - INFO - __main__ - ==============Epoch 642 Step 76500=============== +04/29/2025 12:34:48 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1736, loss_open:0.0020, loss_total:2.1466 +04/29/2025 12:34:48 - INFO - __main__ - =============================================== +04/29/2025 12:41:46 - INFO - __main__ - ==============Epoch 647 Step 77000=============== +04/29/2025 12:41:46 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1718, loss_open:0.0019, loss_total:2.1443 +04/29/2025 12:41:46 - INFO - __main__ - =============================================== +04/29/2025 12:42:17 - INFO - __main__ - =================Validation================= +04/29/2025 12:42:17 - INFO - __main__ - total/pos_l2_err: 0.0072, total/quat_l1_err: 0.3845, total/quat_l1_ideal_err: 0.3845, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9360, total/rot_acc_0.025: 0.4330, total/rot_acc_0.05: 0.6160, total/rot_ideal_acc_0.025: 0.4330, total/rot_ideal_acc_0.05: 0.6160, per_task/close_jar_pos_l2_err: 0.0048, per_task/close_jar_quat_l1_err: 0.2539, per_task/close_jar_quat_l1_ideal_err: 0.2539, per_task/close_jar_pos_acc_0.01: 0.9298, per_task/close_jar_rot_acc_0.025: 0.5439, per_task/close_jar_rot_acc_0.05: 0.6140, per_task/close_jar_rot_ideal_acc_0.025: 0.5439, per_task/close_jar_rot_ideal_acc_0.05: 0.6140, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0048, per_task/insert_onto_square_peg_quat_l1_err: 0.3559, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3559, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9778, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5333, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6444, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5333, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6444, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0038, per_task/light_bulb_in_quat_l1_err: 0.5835, per_task/light_bulb_in_quat_l1_ideal_err: 0.5835, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.5500, per_task/light_bulb_in_rot_acc_0.05: 0.5667, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5500, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5667, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0042, per_task/meat_off_grill_quat_l1_err: 0.3849, per_task/meat_off_grill_quat_l1_ideal_err: 0.3849, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6667, per_task/meat_off_grill_rot_acc_0.05: 0.7222, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6667, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7222, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0037, per_task/open_drawer_quat_l1_err: 0.8014, per_task/open_drawer_quat_l1_ideal_err: 0.8014, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4211, per_task/open_drawer_rot_acc_0.05: 0.6316, per_task/open_drawer_rot_ideal_acc_0.025: 0.4211, per_task/open_drawer_rot_ideal_acc_0.05: 0.6316, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0052, per_task/place_cups_quat_l1_err: 0.3341, per_task/place_cups_quat_l1_ideal_err: 0.3341, per_task/place_cups_pos_acc_0.01: 0.9154, per_task/place_cups_rot_acc_0.025: 0.2154, per_task/place_cups_rot_acc_0.05: 0.6769, per_task/place_cups_rot_ideal_acc_0.025: 0.2154, per_task/place_cups_rot_ideal_acc_0.05: 0.6769, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0061, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.6076, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.6076, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9211, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4211, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.4474, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4211, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.4474, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0056, per_task/place_wine_at_rack_location_quat_l1_err: 1.1784, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1784, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9524, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2143, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3095, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2143, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3095, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0045, per_task/push_buttons_quat_l1_err: 0.0190, per_task/push_buttons_quat_l1_ideal_err: 0.0190, per_task/push_buttons_pos_acc_0.01: 0.9643, per_task/push_buttons_rot_acc_0.025: 0.8571, per_task/push_buttons_rot_acc_0.05: 0.8571, per_task/push_buttons_rot_ideal_acc_0.025: 0.8571, per_task/push_buttons_rot_ideal_acc_0.05: 0.8571, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0093, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4023, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4023, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6053, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.5526, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6579, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.5526, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6579, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0038, per_task/put_item_in_drawer_quat_l1_err: 0.2872, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.2872, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.4744, per_task/put_item_in_drawer_rot_acc_0.05: 0.7564, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4744, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7564, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0054, per_task/put_money_in_safe_quat_l1_err: 0.2814, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2814, per_task/put_money_in_safe_pos_acc_0.01: 0.9286, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.4762, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4762, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0038, per_task/reach_and_drag_quat_l1_err: 0.2351, per_task/reach_and_drag_quat_l1_ideal_err: 0.2351, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3095, per_task/reach_and_drag_rot_acc_0.05: 0.5476, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3095, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5476, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0051, per_task/slide_block_to_color_target_quat_l1_err: 0.4792, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4792, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9697, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3030, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5758, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3030, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5758, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0051, per_task/stack_blocks_quat_l1_err: 0.2954, per_task/stack_blocks_quat_l1_ideal_err: 0.2954, per_task/stack_blocks_pos_acc_0.01: 0.9366, per_task/stack_blocks_rot_acc_0.025: 0.5282, per_task/stack_blocks_rot_acc_0.05: 0.6408, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5282, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6408, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0049, per_task/stack_cups_quat_l1_err: 0.0852, per_task/stack_cups_quat_l1_ideal_err: 0.0852, per_task/stack_cups_pos_acc_0.01: 0.9490, per_task/stack_cups_rot_acc_0.025: 0.4388, per_task/stack_cups_rot_acc_0.05: 0.6122, per_task/stack_cups_rot_ideal_acc_0.025: 0.4388, per_task/stack_cups_rot_ideal_acc_0.05: 0.6122, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0583, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3040, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3040, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8333, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6905, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6905, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6905, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6905, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0061, per_task/turn_tap_quat_l1_err: 1.8052, per_task/turn_tap_quat_l1_ideal_err: 1.8052, per_task/turn_tap_pos_acc_0.01: 0.8182, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 12:42:17 - INFO - __main__ - =============================================== +04/29/2025 12:49:10 - INFO - __main__ - ==============Epoch 651 Step 77500=============== +04/29/2025 12:49:10 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1715, loss_open:0.0018, loss_total:2.1472 +04/29/2025 12:49:10 - INFO - __main__ - =============================================== +04/29/2025 12:56:09 - INFO - __main__ - ==============Epoch 655 Step 78000=============== +04/29/2025 12:56:09 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1691, loss_open:0.0015, loss_total:2.1440 +04/29/2025 12:56:09 - INFO - __main__ - =============================================== +04/29/2025 12:56:40 - INFO - __main__ - =================Validation================= +04/29/2025 12:56:40 - INFO - __main__ - total/pos_l2_err: 0.0053, total/quat_l1_err: 0.3876, total/quat_l1_ideal_err: 0.3876, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9590, total/rot_acc_0.025: 0.4640, total/rot_acc_0.05: 0.6200, total/rot_ideal_acc_0.025: 0.4640, total/rot_ideal_acc_0.05: 0.6200, per_task/close_jar_pos_l2_err: 0.0040, per_task/close_jar_quat_l1_err: 0.2378, per_task/close_jar_quat_l1_ideal_err: 0.2378, per_task/close_jar_pos_acc_0.01: 0.9459, per_task/close_jar_rot_acc_0.025: 0.5676, per_task/close_jar_rot_acc_0.05: 0.6757, per_task/close_jar_rot_ideal_acc_0.025: 0.5676, per_task/close_jar_rot_ideal_acc_0.05: 0.6757, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0037, per_task/insert_onto_square_peg_quat_l1_err: 0.3141, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3141, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5278, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6667, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5278, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6667, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0039, per_task/light_bulb_in_quat_l1_err: 0.3827, per_task/light_bulb_in_quat_l1_ideal_err: 0.3827, per_task/light_bulb_in_pos_acc_0.01: 0.9565, per_task/light_bulb_in_rot_acc_0.025: 0.5362, per_task/light_bulb_in_rot_acc_0.05: 0.5652, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5362, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5652, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0038, per_task/meat_off_grill_quat_l1_err: 0.3458, per_task/meat_off_grill_quat_l1_ideal_err: 0.3458, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6667, per_task/meat_off_grill_rot_acc_0.05: 0.7179, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6667, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7179, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0036, per_task/open_drawer_quat_l1_err: 0.9906, per_task/open_drawer_quat_l1_ideal_err: 0.9906, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4545, per_task/open_drawer_rot_acc_0.05: 0.5152, per_task/open_drawer_rot_ideal_acc_0.025: 0.4545, per_task/open_drawer_rot_ideal_acc_0.05: 0.5152, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0043, per_task/place_cups_quat_l1_err: 0.3721, per_task/place_cups_quat_l1_ideal_err: 0.3721, per_task/place_cups_pos_acc_0.01: 0.9250, per_task/place_cups_rot_acc_0.025: 0.2417, per_task/place_cups_rot_acc_0.05: 0.6583, per_task/place_cups_rot_ideal_acc_0.025: 0.2417, per_task/place_cups_rot_ideal_acc_0.05: 0.6583, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0055, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3711, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3711, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9333, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.6000, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6667, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.6000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6667, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0039, per_task/place_wine_at_rack_location_quat_l1_err: 0.7309, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7309, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9512, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3659, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4634, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3659, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4634, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0044, per_task/push_buttons_quat_l1_err: 0.0412, per_task/push_buttons_quat_l1_ideal_err: 0.0412, per_task/push_buttons_pos_acc_0.01: 0.9756, per_task/push_buttons_rot_acc_0.025: 0.6829, per_task/push_buttons_rot_acc_0.05: 0.6829, per_task/push_buttons_rot_ideal_acc_0.025: 0.6829, per_task/push_buttons_rot_ideal_acc_0.05: 0.6829, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0077, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5934, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5934, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7619, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4524, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5476, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4524, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5476, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0037, per_task/put_item_in_drawer_quat_l1_err: 0.3486, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3486, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.4787, per_task/put_item_in_drawer_rot_acc_0.05: 0.7553, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4787, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7553, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0057, per_task/put_money_in_safe_quat_l1_err: 0.3431, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3431, per_task/put_money_in_safe_pos_acc_0.01: 0.9722, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.3889, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.3889, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0035, per_task/reach_and_drag_quat_l1_err: 0.2983, per_task/reach_and_drag_quat_l1_ideal_err: 0.2983, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3333, per_task/reach_and_drag_rot_acc_0.05: 0.5385, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5385, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0055, per_task/slide_block_to_color_target_quat_l1_err: 0.7126, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.7126, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3333, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0058, per_task/stack_blocks_quat_l1_err: 0.3289, per_task/stack_blocks_quat_l1_ideal_err: 0.3289, per_task/stack_blocks_pos_acc_0.01: 0.9673, per_task/stack_blocks_rot_acc_0.025: 0.5817, per_task/stack_blocks_rot_acc_0.05: 0.6732, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5817, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6732, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0040, per_task/stack_cups_quat_l1_err: 0.1403, per_task/stack_cups_quat_l1_ideal_err: 0.1403, per_task/stack_cups_pos_acc_0.01: 0.9762, per_task/stack_cups_rot_acc_0.025: 0.3929, per_task/stack_cups_rot_acc_0.05: 0.6071, per_task/stack_cups_rot_ideal_acc_0.025: 0.3929, per_task/stack_cups_rot_ideal_acc_0.05: 0.6071, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0194, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2256, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2256, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9400, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7800, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7800, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7800, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7800, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0040, per_task/turn_tap_quat_l1_err: 1.9729, per_task/turn_tap_quat_l1_ideal_err: 1.9729, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 12:56:40 - INFO - __main__ - =============================================== +04/29/2025 13:03:31 - INFO - __main__ - ==============Epoch 659 Step 78500=============== +04/29/2025 13:03:31 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1737, loss_open:0.0022, loss_total:2.1457 +04/29/2025 13:03:31 - INFO - __main__ - =============================================== +04/29/2025 13:10:27 - INFO - __main__ - ==============Epoch 663 Step 79000=============== +04/29/2025 13:10:27 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1723, loss_open:0.0028, loss_total:2.1497 +04/29/2025 13:10:27 - INFO - __main__ - =============================================== +04/29/2025 13:10:58 - INFO - __main__ - =================Validation================= +04/29/2025 13:10:58 - INFO - __main__ - total/pos_l2_err: 0.0046, total/quat_l1_err: 0.3731, total/quat_l1_ideal_err: 0.3731, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9520, total/rot_acc_0.025: 0.4520, total/rot_acc_0.05: 0.6120, total/rot_ideal_acc_0.025: 0.4520, total/rot_ideal_acc_0.05: 0.6120, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.2205, per_task/close_jar_quat_l1_ideal_err: 0.2205, per_task/close_jar_pos_acc_0.01: 0.9787, per_task/close_jar_rot_acc_0.025: 0.6596, per_task/close_jar_rot_acc_0.05: 0.6809, per_task/close_jar_rot_ideal_acc_0.025: 0.6596, per_task/close_jar_rot_ideal_acc_0.05: 0.6809, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0046, per_task/insert_onto_square_peg_quat_l1_err: 0.4940, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4940, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4800, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5800, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4800, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5800, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0044, per_task/light_bulb_in_quat_l1_err: 0.6482, per_task/light_bulb_in_quat_l1_ideal_err: 0.6482, per_task/light_bulb_in_pos_acc_0.01: 0.9821, per_task/light_bulb_in_rot_acc_0.025: 0.5000, per_task/light_bulb_in_rot_acc_0.05: 0.5536, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5000, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5536, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0042, per_task/meat_off_grill_quat_l1_err: 0.1042, per_task/meat_off_grill_quat_l1_ideal_err: 0.1042, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7708, per_task/meat_off_grill_rot_acc_0.05: 0.8750, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7708, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8750, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0040, per_task/open_drawer_quat_l1_err: 1.2266, per_task/open_drawer_quat_l1_ideal_err: 1.2266, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4211, per_task/open_drawer_rot_acc_0.05: 0.4737, per_task/open_drawer_rot_ideal_acc_0.025: 0.4211, per_task/open_drawer_rot_ideal_acc_0.05: 0.4737, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0044, per_task/place_cups_quat_l1_err: 0.3000, per_task/place_cups_quat_l1_ideal_err: 0.3000, per_task/place_cups_pos_acc_0.01: 0.9652, per_task/place_cups_rot_acc_0.025: 0.1652, per_task/place_cups_rot_acc_0.05: 0.7391, per_task/place_cups_rot_ideal_acc_0.025: 0.1652, per_task/place_cups_rot_ideal_acc_0.05: 0.7391, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0054, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3030, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3030, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9259, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5185, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6296, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5185, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6296, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0041, per_task/place_wine_at_rack_location_quat_l1_err: 1.0589, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.0589, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9706, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2647, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3235, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2647, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3235, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0043, per_task/push_buttons_quat_l1_err: 0.0309, per_task/push_buttons_quat_l1_ideal_err: 0.0309, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7632, per_task/push_buttons_rot_acc_0.05: 0.7632, per_task/push_buttons_rot_ideal_acc_0.025: 0.7632, per_task/push_buttons_rot_ideal_acc_0.05: 0.7632, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0084, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6820, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6820, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7333, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4222, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5111, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4222, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5111, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0038, per_task/put_item_in_drawer_quat_l1_err: 0.3657, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3657, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5882, per_task/put_item_in_drawer_rot_acc_0.05: 0.7294, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5882, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7294, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0063, per_task/put_money_in_safe_quat_l1_err: 0.2946, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2946, per_task/put_money_in_safe_pos_acc_0.01: 0.8205, per_task/put_money_in_safe_rot_acc_0.025: 0.0513, per_task/put_money_in_safe_rot_acc_0.05: 0.4103, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0513, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4103, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0032, per_task/reach_and_drag_quat_l1_err: 0.4056, per_task/reach_and_drag_quat_l1_ideal_err: 0.4056, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3043, per_task/reach_and_drag_rot_acc_0.05: 0.4565, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3043, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4565, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0047, per_task/slide_block_to_color_target_quat_l1_err: 0.4745, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4745, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9655, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2414, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4483, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2414, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4483, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0047, per_task/stack_blocks_quat_l1_err: 0.2570, per_task/stack_blocks_quat_l1_ideal_err: 0.2570, per_task/stack_blocks_pos_acc_0.01: 0.9315, per_task/stack_blocks_rot_acc_0.025: 0.5685, per_task/stack_blocks_rot_acc_0.05: 0.6644, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5685, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6644, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0046, per_task/stack_cups_quat_l1_err: 0.1072, per_task/stack_cups_quat_l1_ideal_err: 0.1072, per_task/stack_cups_pos_acc_0.01: 0.9505, per_task/stack_cups_rot_acc_0.025: 0.3861, per_task/stack_cups_rot_acc_0.05: 0.5248, per_task/stack_cups_rot_ideal_acc_0.025: 0.3861, per_task/stack_cups_rot_ideal_acc_0.05: 0.5248, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0044, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2940, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2940, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9737, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6579, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6579, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6579, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6579, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0055, per_task/turn_tap_quat_l1_err: 2.0162, per_task/turn_tap_quat_l1_ideal_err: 2.0162, per_task/turn_tap_pos_acc_0.01: 0.9000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 13:10:58 - INFO - __main__ - =============================================== +04/29/2025 13:18:00 - INFO - __main__ - ==============Epoch 668 Step 79500=============== +04/29/2025 13:18:00 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1696, loss_open:0.0014, loss_total:2.1426 +04/29/2025 13:18:00 - INFO - __main__ - =============================================== +04/29/2025 13:24:55 - INFO - __main__ - ==============Epoch 672 Step 80000=============== +04/29/2025 13:24:55 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1686, loss_open:0.0020, loss_total:2.1395 +04/29/2025 13:24:55 - INFO - __main__ - =============================================== +04/29/2025 13:25:26 - INFO - __main__ - =================Validation================= +04/29/2025 13:25:26 - INFO - __main__ - total/pos_l2_err: 0.0062, total/quat_l1_err: 0.4270, total/quat_l1_ideal_err: 0.4270, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9440, total/rot_acc_0.025: 0.4430, total/rot_acc_0.05: 0.5950, total/rot_ideal_acc_0.025: 0.4430, total/rot_ideal_acc_0.05: 0.5950, per_task/close_jar_pos_l2_err: 0.0042, per_task/close_jar_quat_l1_err: 0.2185, per_task/close_jar_quat_l1_ideal_err: 0.2185, per_task/close_jar_pos_acc_0.01: 0.9600, per_task/close_jar_rot_acc_0.025: 0.6800, per_task/close_jar_rot_acc_0.05: 0.7400, per_task/close_jar_rot_ideal_acc_0.025: 0.6800, per_task/close_jar_rot_ideal_acc_0.05: 0.7400, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0052, per_task/insert_onto_square_peg_quat_l1_err: 0.6849, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.6849, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9524, per_task/insert_onto_square_peg_rot_acc_0.025: 0.3095, per_task/insert_onto_square_peg_rot_acc_0.05: 0.4524, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.3095, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.4524, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0037, per_task/light_bulb_in_quat_l1_err: 0.4629, per_task/light_bulb_in_quat_l1_ideal_err: 0.4629, per_task/light_bulb_in_pos_acc_0.01: 0.9718, per_task/light_bulb_in_rot_acc_0.025: 0.5775, per_task/light_bulb_in_rot_acc_0.05: 0.6056, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5775, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6056, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0038, per_task/meat_off_grill_quat_l1_err: 0.3486, per_task/meat_off_grill_quat_l1_ideal_err: 0.3486, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6857, per_task/meat_off_grill_rot_acc_0.05: 0.7143, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6857, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7143, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0040, per_task/open_drawer_quat_l1_err: 0.8112, per_task/open_drawer_quat_l1_ideal_err: 0.8112, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4231, per_task/open_drawer_rot_acc_0.05: 0.5769, per_task/open_drawer_rot_ideal_acc_0.025: 0.4231, per_task/open_drawer_rot_ideal_acc_0.05: 0.5769, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0047, per_task/place_cups_quat_l1_err: 0.4238, per_task/place_cups_quat_l1_ideal_err: 0.4238, per_task/place_cups_pos_acc_0.01: 0.9590, per_task/place_cups_rot_acc_0.025: 0.1967, per_task/place_cups_rot_acc_0.05: 0.6066, per_task/place_cups_rot_ideal_acc_0.025: 0.1967, per_task/place_cups_rot_ideal_acc_0.05: 0.6066, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0054, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3437, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3437, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9333, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5667, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6333, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5667, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6333, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0065, per_task/place_wine_at_rack_location_quat_l1_err: 0.9703, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9703, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8605, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2326, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4651, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2326, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4651, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0040, per_task/push_buttons_quat_l1_err: 0.0406, per_task/push_buttons_quat_l1_ideal_err: 0.0406, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.6875, per_task/push_buttons_rot_acc_0.05: 0.6875, per_task/push_buttons_rot_ideal_acc_0.025: 0.6875, per_task/push_buttons_rot_ideal_acc_0.05: 0.6875, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0103, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5175, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5175, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5366, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3659, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6341, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3659, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6341, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0039, per_task/put_item_in_drawer_quat_l1_err: 0.3073, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3073, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.6000, per_task/put_item_in_drawer_rot_acc_0.05: 0.7647, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.6000, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7647, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0053, per_task/put_money_in_safe_quat_l1_err: 0.2028, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2028, per_task/put_money_in_safe_pos_acc_0.01: 0.9091, per_task/put_money_in_safe_rot_acc_0.025: 0.0909, per_task/put_money_in_safe_rot_acc_0.05: 0.5455, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0909, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5455, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0030, per_task/reach_and_drag_quat_l1_err: 0.3016, per_task/reach_and_drag_quat_l1_ideal_err: 0.3016, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3333, per_task/reach_and_drag_rot_acc_0.05: 0.5455, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5455, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0051, per_task/slide_block_to_color_target_quat_l1_err: 0.3267, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3267, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9583, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5000, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6667, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6667, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0048, per_task/stack_blocks_quat_l1_err: 0.4007, per_task/stack_blocks_quat_l1_ideal_err: 0.4007, per_task/stack_blocks_pos_acc_0.01: 0.9597, per_task/stack_blocks_rot_acc_0.025: 0.5436, per_task/stack_blocks_rot_acc_0.05: 0.6107, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5436, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6107, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0049, per_task/stack_cups_quat_l1_err: 0.1963, per_task/stack_cups_quat_l1_ideal_err: 0.1963, per_task/stack_cups_pos_acc_0.01: 0.9703, per_task/stack_cups_rot_acc_0.025: 0.3663, per_task/stack_cups_rot_acc_0.05: 0.4752, per_task/stack_cups_rot_ideal_acc_0.025: 0.3663, per_task/stack_cups_rot_ideal_acc_0.05: 0.4752, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0423, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2913, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2913, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8462, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6923, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6923, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6923, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6923, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0045, per_task/turn_tap_quat_l1_err: 2.0757, per_task/turn_tap_quat_l1_ideal_err: 2.0757, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 13:25:26 - INFO - __main__ - =============================================== +04/29/2025 13:32:20 - INFO - __main__ - ==============Epoch 676 Step 80500=============== +04/29/2025 13:32:20 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1727, loss_open:0.0021, loss_total:2.1464 +04/29/2025 13:32:20 - INFO - __main__ - =============================================== +04/29/2025 13:39:12 - INFO - __main__ - ==============Epoch 680 Step 81000=============== +04/29/2025 13:39:12 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1705, loss_open:0.0022, loss_total:2.1404 +04/29/2025 13:39:12 - INFO - __main__ - =============================================== +04/29/2025 13:39:42 - INFO - __main__ - =================Validation================= +04/29/2025 13:39:42 - INFO - __main__ - total/pos_l2_err: 0.0048, total/quat_l1_err: 0.3713, total/quat_l1_ideal_err: 0.3713, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9470, total/rot_acc_0.025: 0.4490, total/rot_acc_0.05: 0.6330, total/rot_ideal_acc_0.025: 0.4490, total/rot_ideal_acc_0.05: 0.6330, per_task/close_jar_pos_l2_err: 0.0045, per_task/close_jar_quat_l1_err: 0.2116, per_task/close_jar_quat_l1_ideal_err: 0.2116, per_task/close_jar_pos_acc_0.01: 0.9815, per_task/close_jar_rot_acc_0.025: 0.6111, per_task/close_jar_rot_acc_0.05: 0.6667, per_task/close_jar_rot_ideal_acc_0.025: 0.6111, per_task/close_jar_rot_ideal_acc_0.05: 0.6667, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0050, per_task/insert_onto_square_peg_quat_l1_err: 0.3387, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3387, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9722, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5278, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5833, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5278, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5833, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0039, per_task/light_bulb_in_quat_l1_err: 0.4958, per_task/light_bulb_in_quat_l1_ideal_err: 0.4958, per_task/light_bulb_in_pos_acc_0.01: 0.9608, per_task/light_bulb_in_rot_acc_0.025: 0.5098, per_task/light_bulb_in_rot_acc_0.05: 0.5098, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5098, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5098, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0043, per_task/meat_off_grill_quat_l1_err: 0.1797, per_task/meat_off_grill_quat_l1_ideal_err: 0.1797, per_task/meat_off_grill_pos_acc_0.01: 0.9688, per_task/meat_off_grill_rot_acc_0.025: 0.7812, per_task/meat_off_grill_rot_acc_0.05: 0.8125, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7812, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8125, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0041, per_task/open_drawer_quat_l1_err: 0.8708, per_task/open_drawer_quat_l1_ideal_err: 0.8708, per_task/open_drawer_pos_acc_0.01: 0.9474, per_task/open_drawer_rot_acc_0.025: 0.2632, per_task/open_drawer_rot_acc_0.05: 0.4737, per_task/open_drawer_rot_ideal_acc_0.025: 0.2632, per_task/open_drawer_rot_ideal_acc_0.05: 0.4737, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0045, per_task/place_cups_quat_l1_err: 0.3690, per_task/place_cups_quat_l1_ideal_err: 0.3690, per_task/place_cups_pos_acc_0.01: 0.9722, per_task/place_cups_rot_acc_0.025: 0.1875, per_task/place_cups_rot_acc_0.05: 0.6806, per_task/place_cups_rot_ideal_acc_0.025: 0.1875, per_task/place_cups_rot_ideal_acc_0.05: 0.6806, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0052, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3933, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3933, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9545, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4545, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5909, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4545, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5909, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0065, per_task/place_wine_at_rack_location_quat_l1_err: 0.6908, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6908, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8611, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3889, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.5278, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3889, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.5278, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0047, per_task/push_buttons_quat_l1_err: 0.0340, per_task/push_buttons_quat_l1_ideal_err: 0.0340, per_task/push_buttons_pos_acc_0.01: 0.9762, per_task/push_buttons_rot_acc_0.025: 0.7381, per_task/push_buttons_rot_acc_0.05: 0.7381, per_task/push_buttons_rot_ideal_acc_0.025: 0.7381, per_task/push_buttons_rot_ideal_acc_0.05: 0.7381, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0084, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6775, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6775, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7143, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3061, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5510, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3061, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5510, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0039, per_task/put_item_in_drawer_quat_l1_err: 0.4138, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4138, per_task/put_item_in_drawer_pos_acc_0.01: 0.9896, per_task/put_item_in_drawer_rot_acc_0.025: 0.5208, per_task/put_item_in_drawer_rot_acc_0.05: 0.7083, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5208, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7083, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0076, per_task/put_money_in_safe_quat_l1_err: 0.2270, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2270, per_task/put_money_in_safe_pos_acc_0.01: 0.8947, per_task/put_money_in_safe_rot_acc_0.025: 0.0526, per_task/put_money_in_safe_rot_acc_0.05: 0.5789, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0526, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5789, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0037, per_task/reach_and_drag_quat_l1_err: 0.2972, per_task/reach_and_drag_quat_l1_ideal_err: 0.2972, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3333, per_task/reach_and_drag_rot_acc_0.05: 0.5556, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3333, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5556, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0053, per_task/slide_block_to_color_target_quat_l1_err: 0.4402, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4402, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9487, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5128, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5897, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5128, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5897, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0045, per_task/stack_blocks_quat_l1_err: 0.3788, per_task/stack_blocks_quat_l1_ideal_err: 0.3788, per_task/stack_blocks_pos_acc_0.01: 0.9338, per_task/stack_blocks_rot_acc_0.025: 0.5588, per_task/stack_blocks_rot_acc_0.05: 0.6838, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5588, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6838, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0047, per_task/stack_cups_quat_l1_err: 0.1034, per_task/stack_cups_quat_l1_ideal_err: 0.1034, per_task/stack_cups_pos_acc_0.01: 0.9620, per_task/stack_cups_rot_acc_0.025: 0.4304, per_task/stack_cups_rot_acc_0.05: 0.5823, per_task/stack_cups_rot_ideal_acc_0.025: 0.4304, per_task/stack_cups_rot_ideal_acc_0.05: 0.5823, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0043, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2366, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2366, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9792, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7708, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7708, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7708, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7708, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0042, per_task/turn_tap_quat_l1_err: 1.6839, per_task/turn_tap_quat_l1_ideal_err: 1.6839, per_task/turn_tap_pos_acc_0.01: 0.9167, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 13:39:42 - INFO - __main__ - =============================================== +04/29/2025 13:46:38 - INFO - __main__ - ==============Epoch 684 Step 81500=============== +04/29/2025 13:46:38 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1715, loss_open:0.0019, loss_total:2.1436 +04/29/2025 13:46:38 - INFO - __main__ - =============================================== +04/29/2025 13:53:34 - INFO - __main__ - ==============Epoch 689 Step 82000=============== +04/29/2025 13:53:34 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1709, loss_open:0.0021, loss_total:2.1450 +04/29/2025 13:53:34 - INFO - __main__ - =============================================== +04/29/2025 13:54:05 - INFO - __main__ - =================Validation================= +04/29/2025 13:54:05 - INFO - __main__ - total/pos_l2_err: 0.0060, total/quat_l1_err: 0.4367, total/quat_l1_ideal_err: 0.4367, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9410, total/rot_acc_0.025: 0.4320, total/rot_acc_0.05: 0.5860, total/rot_ideal_acc_0.025: 0.4320, total/rot_ideal_acc_0.05: 0.5860, per_task/close_jar_pos_l2_err: 0.0043, per_task/close_jar_quat_l1_err: 0.2852, per_task/close_jar_quat_l1_ideal_err: 0.2852, per_task/close_jar_pos_acc_0.01: 0.9796, per_task/close_jar_rot_acc_0.025: 0.6122, per_task/close_jar_rot_acc_0.05: 0.6531, per_task/close_jar_rot_ideal_acc_0.025: 0.6122, per_task/close_jar_rot_ideal_acc_0.05: 0.6531, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0048, per_task/insert_onto_square_peg_quat_l1_err: 0.4162, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4162, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.6486, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6757, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.6486, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6757, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0044, per_task/light_bulb_in_quat_l1_err: 0.3652, per_task/light_bulb_in_quat_l1_ideal_err: 0.3652, per_task/light_bulb_in_pos_acc_0.01: 0.9403, per_task/light_bulb_in_rot_acc_0.025: 0.5672, per_task/light_bulb_in_rot_acc_0.05: 0.5821, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5672, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5821, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0039, per_task/meat_off_grill_quat_l1_err: 0.2808, per_task/meat_off_grill_quat_l1_ideal_err: 0.2808, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7568, per_task/meat_off_grill_rot_acc_0.05: 0.7838, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7568, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7838, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0040, per_task/open_drawer_quat_l1_err: 0.8667, per_task/open_drawer_quat_l1_ideal_err: 0.8667, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4857, per_task/open_drawer_rot_acc_0.05: 0.6286, per_task/open_drawer_rot_ideal_acc_0.025: 0.4857, per_task/open_drawer_rot_ideal_acc_0.05: 0.6286, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0053, per_task/place_cups_quat_l1_err: 0.4696, per_task/place_cups_quat_l1_ideal_err: 0.4696, per_task/place_cups_pos_acc_0.01: 0.9327, per_task/place_cups_rot_acc_0.025: 0.2404, per_task/place_cups_rot_acc_0.05: 0.6058, per_task/place_cups_rot_ideal_acc_0.025: 0.2404, per_task/place_cups_rot_ideal_acc_0.05: 0.6058, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0063, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4337, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4337, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8750, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4583, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0051, per_task/place_wine_at_rack_location_quat_l1_err: 0.9176, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9176, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9556, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2889, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4889, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2889, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4889, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0094, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5718, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5718, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6341, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2683, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5610, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2683, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5610, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0036, per_task/put_item_in_drawer_quat_l1_err: 0.4100, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4100, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.4592, per_task/put_item_in_drawer_rot_acc_0.05: 0.7041, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4592, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7041, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0071, per_task/put_money_in_safe_quat_l1_err: 0.4341, per_task/put_money_in_safe_quat_l1_ideal_err: 0.4341, per_task/put_money_in_safe_pos_acc_0.01: 0.7750, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.2750, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.2750, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0038, per_task/reach_and_drag_quat_l1_err: 0.2924, per_task/reach_and_drag_quat_l1_ideal_err: 0.2924, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2881, per_task/reach_and_drag_rot_acc_0.05: 0.4915, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2881, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4915, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0075, per_task/slide_block_to_color_target_quat_l1_err: 0.5897, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5897, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8750, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2083, per_task/slide_block_to_color_target_rot_acc_0.05: 0.3333, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2083, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.3333, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0046, per_task/stack_blocks_quat_l1_err: 0.3720, per_task/stack_blocks_quat_l1_ideal_err: 0.3720, per_task/stack_blocks_pos_acc_0.01: 0.9556, per_task/stack_blocks_rot_acc_0.025: 0.5704, per_task/stack_blocks_rot_acc_0.05: 0.6222, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5704, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6222, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0043, per_task/stack_cups_quat_l1_err: 0.1247, per_task/stack_cups_quat_l1_ideal_err: 0.1247, per_task/stack_cups_pos_acc_0.01: 0.9780, per_task/stack_cups_rot_acc_0.025: 0.3956, per_task/stack_cups_rot_acc_0.05: 0.6374, per_task/stack_cups_rot_ideal_acc_0.025: 0.3956, per_task/stack_cups_rot_ideal_acc_0.05: 0.6374, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0306, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.5231, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.5231, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9048, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5714, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5714, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0043, per_task/turn_tap_quat_l1_err: 1.9895, per_task/turn_tap_quat_l1_ideal_err: 1.9895, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0042, per_task/push_buttons_quat_l1_err: 0.0460, per_task/push_buttons_quat_l1_ideal_err: 0.0460, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.6452, per_task/push_buttons_rot_acc_0.05: 0.6452, per_task/push_buttons_rot_ideal_acc_0.025: 0.6452, per_task/push_buttons_rot_ideal_acc_0.05: 0.6452, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000 +04/29/2025 13:54:05 - INFO - __main__ - =============================================== +04/29/2025 14:00:59 - INFO - __main__ - ==============Epoch 693 Step 82500=============== +04/29/2025 14:00:59 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1687, loss_open:0.0020, loss_total:2.1423 +04/29/2025 14:00:59 - INFO - __main__ - =============================================== +04/29/2025 14:07:55 - INFO - __main__ - ==============Epoch 697 Step 83000=============== +04/29/2025 14:07:55 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1708, loss_open:0.0028, loss_total:2.1436 +04/29/2025 14:07:55 - INFO - __main__ - =============================================== +04/29/2025 14:08:26 - INFO - __main__ - =================Validation================= +04/29/2025 14:08:26 - INFO - __main__ - total/pos_l2_err: 0.0057, total/quat_l1_err: 0.4270, total/quat_l1_ideal_err: 0.4270, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9460, total/rot_acc_0.025: 0.4350, total/rot_acc_0.05: 0.6040, total/rot_ideal_acc_0.025: 0.4350, total/rot_ideal_acc_0.05: 0.6040, per_task/close_jar_pos_l2_err: 0.0043, per_task/close_jar_quat_l1_err: 0.2908, per_task/close_jar_quat_l1_ideal_err: 0.2908, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.5349, per_task/close_jar_rot_acc_0.05: 0.6512, per_task/close_jar_rot_ideal_acc_0.025: 0.5349, per_task/close_jar_rot_ideal_acc_0.05: 0.6512, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0049, per_task/insert_onto_square_peg_quat_l1_err: 0.4499, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4499, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9535, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4419, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6047, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4419, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6047, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0036, per_task/light_bulb_in_quat_l1_err: 0.6001, per_task/light_bulb_in_quat_l1_ideal_err: 0.6001, per_task/light_bulb_in_pos_acc_0.01: 0.9841, per_task/light_bulb_in_rot_acc_0.025: 0.5079, per_task/light_bulb_in_rot_acc_0.05: 0.5238, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5079, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5238, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0036, per_task/meat_off_grill_quat_l1_err: 0.2502, per_task/meat_off_grill_quat_l1_ideal_err: 0.2502, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7292, per_task/meat_off_grill_rot_acc_0.05: 0.8125, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7292, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8125, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0038, per_task/open_drawer_quat_l1_err: 0.8421, per_task/open_drawer_quat_l1_ideal_err: 0.8421, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.3000, per_task/open_drawer_rot_acc_0.05: 0.5500, per_task/open_drawer_rot_ideal_acc_0.025: 0.3000, per_task/open_drawer_rot_ideal_acc_0.05: 0.5500, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0049, per_task/place_cups_quat_l1_err: 0.4547, per_task/place_cups_quat_l1_ideal_err: 0.4547, per_task/place_cups_pos_acc_0.01: 0.9538, per_task/place_cups_rot_acc_0.025: 0.1846, per_task/place_cups_rot_acc_0.05: 0.6615, per_task/place_cups_rot_ideal_acc_0.025: 0.1846, per_task/place_cups_rot_ideal_acc_0.05: 0.6615, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0069, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.7297, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.7297, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8696, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3043, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3913, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3043, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3913, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0055, per_task/place_wine_at_rack_location_quat_l1_err: 0.8291, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8291, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8936, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2979, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3617, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2979, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3617, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0039, per_task/push_buttons_quat_l1_err: 0.0348, per_task/push_buttons_quat_l1_ideal_err: 0.0348, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7333, per_task/push_buttons_rot_acc_0.05: 0.7333, per_task/push_buttons_rot_ideal_acc_0.025: 0.7333, per_task/push_buttons_rot_ideal_acc_0.05: 0.7333, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0037, per_task/put_item_in_drawer_quat_l1_err: 0.3930, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3930, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5789, per_task/put_item_in_drawer_rot_acc_0.05: 0.7158, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5789, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7158, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0060, per_task/put_money_in_safe_quat_l1_err: 0.3064, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3064, per_task/put_money_in_safe_pos_acc_0.01: 0.8605, per_task/put_money_in_safe_rot_acc_0.025: 0.0930, per_task/put_money_in_safe_rot_acc_0.05: 0.5581, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0930, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5581, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0039, per_task/reach_and_drag_quat_l1_err: 0.3678, per_task/reach_and_drag_quat_l1_ideal_err: 0.3678, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2750, per_task/reach_and_drag_rot_acc_0.05: 0.4750, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2750, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4750, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0055, per_task/slide_block_to_color_target_quat_l1_err: 0.4147, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4147, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4286, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5429, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4286, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5429, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0049, per_task/stack_blocks_quat_l1_err: 0.3743, per_task/stack_blocks_quat_l1_ideal_err: 0.3743, per_task/stack_blocks_pos_acc_0.01: 0.9514, per_task/stack_blocks_rot_acc_0.025: 0.5417, per_task/stack_blocks_rot_acc_0.05: 0.6667, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5417, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6667, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0048, per_task/stack_cups_quat_l1_err: 0.1090, per_task/stack_cups_quat_l1_ideal_err: 0.1090, per_task/stack_cups_pos_acc_0.01: 0.9765, per_task/stack_cups_rot_acc_0.025: 0.4941, per_task/stack_cups_rot_acc_0.05: 0.6118, per_task/stack_cups_rot_ideal_acc_0.025: 0.4941, per_task/stack_cups_rot_ideal_acc_0.05: 0.6118, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0272, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1815, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1815, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9394, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6970, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6970, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6970, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6970, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0046, per_task/turn_tap_quat_l1_err: 2.1443, per_task/turn_tap_quat_l1_ideal_err: 2.1443, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0101, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5310, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5310, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6136, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4091, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5227, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4091, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5227, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000 +04/29/2025 14:08:26 - INFO - __main__ - =============================================== +04/29/2025 14:15:22 - INFO - __main__ - ==============Epoch 701 Step 83500=============== +04/29/2025 14:15:22 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1704, loss_open:0.0021, loss_total:2.1427 +04/29/2025 14:15:22 - INFO - __main__ - =============================================== +04/29/2025 14:22:08 - INFO - __main__ - ==============Epoch 705 Step 84000=============== +04/29/2025 14:22:08 - INFO - __main__ - loss_pos:0.0983, loss_rot:0.1725, loss_open:0.0015, loss_total:2.1409 +04/29/2025 14:22:08 - INFO - __main__ - =============================================== +04/29/2025 14:22:39 - INFO - __main__ - =================Validation================= +04/29/2025 14:22:40 - INFO - __main__ - total/pos_l2_err: 0.0058, total/quat_l1_err: 0.4062, total/quat_l1_ideal_err: 0.4062, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9475, total/rot_acc_0.025: 0.4565, total/rot_acc_0.05: 0.6180, total/rot_ideal_acc_0.025: 0.4565, total/rot_ideal_acc_0.05: 0.6180, per_task/close_jar_pos_l2_err: 0.0047, per_task/close_jar_quat_l1_err: 0.1570, per_task/close_jar_quat_l1_ideal_err: 0.1570, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.6522, per_task/close_jar_rot_acc_0.05: 0.7174, per_task/close_jar_rot_ideal_acc_0.025: 0.6522, per_task/close_jar_rot_ideal_acc_0.05: 0.7174, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0043, per_task/insert_onto_square_peg_quat_l1_err: 0.3358, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3358, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.7179, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7436, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.7179, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7436, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0046, per_task/light_bulb_in_quat_l1_err: 0.6751, per_task/light_bulb_in_quat_l1_ideal_err: 0.6751, per_task/light_bulb_in_pos_acc_0.01: 0.9608, per_task/light_bulb_in_rot_acc_0.025: 0.4510, per_task/light_bulb_in_rot_acc_0.05: 0.4706, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4510, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4706, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0040, per_task/meat_off_grill_quat_l1_err: 0.2487, per_task/meat_off_grill_quat_l1_ideal_err: 0.2487, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.5312, per_task/meat_off_grill_rot_acc_0.05: 0.6250, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.5312, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.6250, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0060, per_task/place_cups_quat_l1_err: 0.4350, per_task/place_cups_quat_l1_ideal_err: 0.4350, per_task/place_cups_pos_acc_0.01: 0.9667, per_task/place_cups_rot_acc_0.025: 0.1917, per_task/place_cups_rot_acc_0.05: 0.6167, per_task/place_cups_rot_ideal_acc_0.025: 0.1917, per_task/place_cups_rot_ideal_acc_0.05: 0.6167, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0061, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3411, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3411, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8649, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4595, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5946, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4595, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5946, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0058, per_task/place_wine_at_rack_location_quat_l1_err: 0.9771, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9771, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9688, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3438, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4688, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3438, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4688, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0046, per_task/push_buttons_quat_l1_err: 0.0287, per_task/push_buttons_quat_l1_ideal_err: 0.0287, per_task/push_buttons_pos_acc_0.01: 0.9512, per_task/push_buttons_rot_acc_0.025: 0.7805, per_task/push_buttons_rot_acc_0.05: 0.7805, per_task/push_buttons_rot_ideal_acc_0.025: 0.7805, per_task/push_buttons_rot_ideal_acc_0.05: 0.7805, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0085, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4070, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4070, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7250, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4500, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0040, per_task/put_item_in_drawer_quat_l1_err: 0.3813, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3813, per_task/put_item_in_drawer_pos_acc_0.01: 0.9880, per_task/put_item_in_drawer_rot_acc_0.025: 0.5301, per_task/put_item_in_drawer_rot_acc_0.05: 0.7349, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5301, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7349, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0063, per_task/put_money_in_safe_quat_l1_err: 0.3543, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3543, per_task/put_money_in_safe_pos_acc_0.01: 0.8333, per_task/put_money_in_safe_rot_acc_0.025: 0.0833, per_task/put_money_in_safe_rot_acc_0.05: 0.4722, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0833, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4722, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.2581, per_task/reach_and_drag_quat_l1_ideal_err: 0.2581, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3404, per_task/reach_and_drag_rot_acc_0.05: 0.5745, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3404, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5745, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0049, per_task/slide_block_to_color_target_quat_l1_err: 0.6336, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6336, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3871, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4839, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3871, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4839, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0049, per_task/stack_blocks_quat_l1_err: 0.3992, per_task/stack_blocks_quat_l1_ideal_err: 0.3992, per_task/stack_blocks_pos_acc_0.01: 0.9427, per_task/stack_blocks_rot_acc_0.025: 0.5478, per_task/stack_blocks_rot_acc_0.05: 0.6561, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5478, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6561, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0047, per_task/stack_cups_quat_l1_err: 0.0989, per_task/stack_cups_quat_l1_ideal_err: 0.0989, per_task/stack_cups_pos_acc_0.01: 0.9556, per_task/stack_cups_rot_acc_0.025: 0.4667, per_task/stack_cups_rot_acc_0.05: 0.6111, per_task/stack_cups_rot_ideal_acc_0.025: 0.4667, per_task/stack_cups_rot_ideal_acc_0.05: 0.6111, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0057, per_task/turn_tap_quat_l1_err: 1.9902, per_task/turn_tap_quat_l1_ideal_err: 1.9902, per_task/turn_tap_pos_acc_0.01: 0.9375, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0033, per_task/open_drawer_quat_l1_err: 0.7237, per_task/open_drawer_quat_l1_ideal_err: 0.7237, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.5000, per_task/open_drawer_rot_acc_0.05: 0.6923, per_task/open_drawer_rot_ideal_acc_0.025: 0.5000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6923, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0301, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.4275, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.4275, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8621, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6897, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6897, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6897, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6897, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000 +04/29/2025 14:22:40 - INFO - __main__ - =============================================== +04/29/2025 14:29:38 - INFO - __main__ - ==============Epoch 710 Step 84500=============== +04/29/2025 14:29:38 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1708, loss_open:0.0024, loss_total:2.1420 +04/29/2025 14:29:38 - INFO - __main__ - =============================================== +04/29/2025 14:36:32 - INFO - __main__ - ==============Epoch 714 Step 85000=============== +04/29/2025 14:36:32 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1681, loss_open:0.0020, loss_total:2.1383 +04/29/2025 14:36:32 - INFO - __main__ - =============================================== +04/29/2025 14:37:03 - INFO - __main__ - =================Validation================= +04/29/2025 14:37:03 - INFO - __main__ - total/pos_l2_err: 0.0051, total/quat_l1_err: 0.3743, total/quat_l1_ideal_err: 0.3743, total/open_acc: 0.9980, total/open_acc_ideal: 0.9980, total/pos_acc_0.01: 0.9560, total/rot_acc_0.025: 0.4270, total/rot_acc_0.05: 0.6230, total/rot_ideal_acc_0.025: 0.4270, total/rot_ideal_acc_0.05: 0.6230, per_task/close_jar_pos_l2_err: 0.0040, per_task/close_jar_quat_l1_err: 0.2176, per_task/close_jar_quat_l1_ideal_err: 0.2176, per_task/close_jar_pos_acc_0.01: 0.9833, per_task/close_jar_rot_acc_0.025: 0.5833, per_task/close_jar_rot_acc_0.05: 0.6667, per_task/close_jar_rot_ideal_acc_0.025: 0.5833, per_task/close_jar_rot_ideal_acc_0.05: 0.6667, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0042, per_task/insert_onto_square_peg_quat_l1_err: 0.3465, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3465, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9750, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4250, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4250, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0032, per_task/light_bulb_in_quat_l1_err: 0.4777, per_task/light_bulb_in_quat_l1_ideal_err: 0.4777, per_task/light_bulb_in_pos_acc_0.01: 0.9592, per_task/light_bulb_in_rot_acc_0.025: 0.6735, per_task/light_bulb_in_rot_acc_0.05: 0.6735, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6735, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6735, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0039, per_task/meat_off_grill_quat_l1_err: 0.2456, per_task/meat_off_grill_quat_l1_ideal_err: 0.2456, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6071, per_task/meat_off_grill_rot_acc_0.05: 0.7857, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6071, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7857, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0045, per_task/open_drawer_quat_l1_err: 0.6831, per_task/open_drawer_quat_l1_ideal_err: 0.6831, per_task/open_drawer_pos_acc_0.01: 0.9375, per_task/open_drawer_rot_acc_0.025: 0.3125, per_task/open_drawer_rot_acc_0.05: 0.6250, per_task/open_drawer_rot_ideal_acc_0.025: 0.3125, per_task/open_drawer_rot_ideal_acc_0.05: 0.6250, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0042, per_task/place_cups_quat_l1_err: 0.4310, per_task/place_cups_quat_l1_ideal_err: 0.4310, per_task/place_cups_pos_acc_0.01: 0.9697, per_task/place_cups_rot_acc_0.025: 0.1667, per_task/place_cups_rot_acc_0.05: 0.6136, per_task/place_cups_rot_ideal_acc_0.025: 0.1667, per_task/place_cups_rot_ideal_acc_0.05: 0.6136, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0052, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3227, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3227, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9643, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3929, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6071, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3929, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6071, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0044, per_task/place_wine_at_rack_location_quat_l1_err: 0.6385, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.6385, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9722, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2222, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4167, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2222, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4167, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0041, per_task/push_buttons_quat_l1_err: 0.0307, per_task/push_buttons_quat_l1_ideal_err: 0.0307, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7647, per_task/push_buttons_rot_acc_0.05: 0.7647, per_task/push_buttons_rot_ideal_acc_0.025: 0.7647, per_task/push_buttons_rot_ideal_acc_0.05: 0.7647, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0078, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6122, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6122, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7143, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3429, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3429, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6000, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0038, per_task/put_item_in_drawer_quat_l1_err: 0.4270, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4270, per_task/put_item_in_drawer_pos_acc_0.01: 0.9700, per_task/put_item_in_drawer_rot_acc_0.025: 0.5100, per_task/put_item_in_drawer_rot_acc_0.05: 0.6900, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5100, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6900, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0047, per_task/put_money_in_safe_quat_l1_err: 0.2049, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2049, per_task/put_money_in_safe_pos_acc_0.01: 1.0000, per_task/put_money_in_safe_rot_acc_0.025: 0.0385, per_task/put_money_in_safe_rot_acc_0.05: 0.5192, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0385, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5192, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0030, per_task/reach_and_drag_quat_l1_err: 0.3420, per_task/reach_and_drag_quat_l1_ideal_err: 0.3420, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2821, per_task/reach_and_drag_rot_acc_0.05: 0.4872, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2821, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4872, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0051, per_task/slide_block_to_color_target_quat_l1_err: 0.3903, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3903, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9643, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5000, per_task/slide_block_to_color_target_rot_acc_0.05: 0.7143, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5000, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.7143, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0048, per_task/stack_blocks_quat_l1_err: 0.2675, per_task/stack_blocks_quat_l1_ideal_err: 0.2675, per_task/stack_blocks_pos_acc_0.01: 0.9493, per_task/stack_blocks_rot_acc_0.025: 0.6014, per_task/stack_blocks_rot_acc_0.05: 0.6884, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6014, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6884, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0044, per_task/stack_cups_quat_l1_err: 0.1526, per_task/stack_cups_quat_l1_ideal_err: 0.1526, per_task/stack_cups_pos_acc_0.01: 0.9333, per_task/stack_cups_rot_acc_0.025: 0.4222, per_task/stack_cups_rot_acc_0.05: 0.5778, per_task/stack_cups_rot_ideal_acc_0.025: 0.4222, per_task/stack_cups_rot_ideal_acc_0.05: 0.5778, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0254, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.5125, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.5125, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9429, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.5714, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.5714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.5714, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.5714, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0054, per_task/turn_tap_quat_l1_err: 1.9251, per_task/turn_tap_quat_l1_ideal_err: 1.9251, per_task/turn_tap_pos_acc_0.01: 0.8125, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.8750, per_task/turn_tap_open_acc_ideal: 0.8750 +04/29/2025 14:37:03 - INFO - __main__ - =============================================== +04/29/2025 14:43:53 - INFO - __main__ - ==============Epoch 718 Step 85500=============== +04/29/2025 14:43:53 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1707, loss_open:0.0019, loss_total:2.1398 +04/29/2025 14:43:53 - INFO - __main__ - =============================================== +04/29/2025 14:50:47 - INFO - __main__ - ==============Epoch 722 Step 86000=============== +04/29/2025 14:50:47 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1687, loss_open:0.0016, loss_total:2.1401 +04/29/2025 14:50:47 - INFO - __main__ - =============================================== +04/29/2025 14:51:18 - INFO - __main__ - =================Validation================= +04/29/2025 14:51:18 - INFO - __main__ - total/pos_l2_err: 0.0057, total/quat_l1_err: 0.4162, total/quat_l1_ideal_err: 0.4162, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9410, total/rot_acc_0.025: 0.4340, total/rot_acc_0.05: 0.6100, total/rot_ideal_acc_0.025: 0.4340, total/rot_ideal_acc_0.05: 0.6100, per_task/close_jar_pos_l2_err: 0.0048, per_task/close_jar_quat_l1_err: 0.2112, per_task/close_jar_quat_l1_ideal_err: 0.2112, per_task/close_jar_pos_acc_0.01: 0.9818, per_task/close_jar_rot_acc_0.025: 0.6000, per_task/close_jar_rot_acc_0.05: 0.6909, per_task/close_jar_rot_ideal_acc_0.025: 0.6000, per_task/close_jar_rot_ideal_acc_0.05: 0.6909, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0052, per_task/insert_onto_square_peg_quat_l1_err: 0.2756, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.2756, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9412, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5490, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6667, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5490, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6667, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0043, per_task/light_bulb_in_quat_l1_err: 0.5628, per_task/light_bulb_in_quat_l1_ideal_err: 0.5628, per_task/light_bulb_in_pos_acc_0.01: 0.9552, per_task/light_bulb_in_rot_acc_0.025: 0.3881, per_task/light_bulb_in_rot_acc_0.05: 0.4627, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.3881, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4627, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0042, per_task/meat_off_grill_quat_l1_err: 0.0800, per_task/meat_off_grill_quat_l1_ideal_err: 0.0800, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.8333, per_task/meat_off_grill_rot_acc_0.05: 0.9286, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.8333, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.9286, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0039, per_task/open_drawer_quat_l1_err: 1.0644, per_task/open_drawer_quat_l1_ideal_err: 1.0644, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.2778, per_task/open_drawer_rot_acc_0.05: 0.4444, per_task/open_drawer_rot_ideal_acc_0.025: 0.2778, per_task/open_drawer_rot_ideal_acc_0.05: 0.4444, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0048, per_task/place_cups_quat_l1_err: 0.5010, per_task/place_cups_quat_l1_ideal_err: 0.5010, per_task/place_cups_pos_acc_0.01: 0.9333, per_task/place_cups_rot_acc_0.025: 0.1407, per_task/place_cups_rot_acc_0.05: 0.6148, per_task/place_cups_rot_ideal_acc_0.025: 0.1407, per_task/place_cups_rot_ideal_acc_0.05: 0.6148, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0056, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5281, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5281, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9474, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3158, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5263, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3158, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5263, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0056, per_task/place_wine_at_rack_location_quat_l1_err: 0.9057, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9057, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9298, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3158, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4211, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3158, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4211, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0045, per_task/push_buttons_quat_l1_err: 0.0327, per_task/push_buttons_quat_l1_ideal_err: 0.0327, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7500, per_task/push_buttons_rot_acc_0.05: 0.7500, per_task/push_buttons_rot_ideal_acc_0.025: 0.7500, per_task/push_buttons_rot_ideal_acc_0.05: 0.7500, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0084, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6459, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6459, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7250, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3750, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5500, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3750, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5500, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0037, per_task/put_item_in_drawer_quat_l1_err: 0.4319, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4319, per_task/put_item_in_drawer_pos_acc_0.01: 0.9896, per_task/put_item_in_drawer_rot_acc_0.025: 0.5104, per_task/put_item_in_drawer_rot_acc_0.05: 0.6562, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5104, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6562, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0065, per_task/put_money_in_safe_quat_l1_err: 0.2857, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2857, per_task/put_money_in_safe_pos_acc_0.01: 0.8537, per_task/put_money_in_safe_rot_acc_0.025: 0.0488, per_task/put_money_in_safe_rot_acc_0.05: 0.5122, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0488, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5122, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0045, per_task/reach_and_drag_quat_l1_err: 0.2545, per_task/reach_and_drag_quat_l1_ideal_err: 0.2545, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.4211, per_task/reach_and_drag_rot_acc_0.05: 0.5614, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.4211, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5614, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0058, per_task/slide_block_to_color_target_quat_l1_err: 0.5628, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5628, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9630, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3704, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5185, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3704, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5185, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0050, per_task/stack_blocks_quat_l1_err: 0.3818, per_task/stack_blocks_quat_l1_ideal_err: 0.3818, per_task/stack_blocks_pos_acc_0.01: 0.9291, per_task/stack_blocks_rot_acc_0.025: 0.6063, per_task/stack_blocks_rot_acc_0.05: 0.6614, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6063, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6614, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0048, per_task/stack_cups_quat_l1_err: 0.0875, per_task/stack_cups_quat_l1_ideal_err: 0.0875, per_task/stack_cups_pos_acc_0.01: 0.9432, per_task/stack_cups_rot_acc_0.025: 0.4545, per_task/stack_cups_rot_acc_0.05: 0.6364, per_task/stack_cups_rot_ideal_acc_0.025: 0.4545, per_task/stack_cups_rot_ideal_acc_0.05: 0.6364, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0290, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.1824, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.1824, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9032, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8387, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8387, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8387, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8387, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0056, per_task/turn_tap_quat_l1_err: 1.9798, per_task/turn_tap_quat_l1_ideal_err: 1.9798, per_task/turn_tap_pos_acc_0.01: 0.9000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 14:51:18 - INFO - __main__ - =============================================== +04/29/2025 14:58:11 - INFO - __main__ - ==============Epoch 726 Step 86500=============== +04/29/2025 14:58:11 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1700, loss_open:0.0017, loss_total:2.1396 +04/29/2025 14:58:11 - INFO - __main__ - =============================================== +04/29/2025 15:05:09 - INFO - __main__ - ==============Epoch 731 Step 87000=============== +04/29/2025 15:05:09 - INFO - __main__ - loss_pos:0.0983, loss_rot:0.1695, loss_open:0.0020, loss_total:2.1376 +04/29/2025 15:05:09 - INFO - __main__ - =============================================== +04/29/2025 15:05:40 - INFO - __main__ - =================Validation================= +04/29/2025 15:05:40 - INFO - __main__ - total/pos_l2_err: 0.0056, total/quat_l1_err: 0.4080, total/quat_l1_ideal_err: 0.4080, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9400, total/rot_acc_0.025: 0.4210, total/rot_acc_0.05: 0.5930, total/rot_ideal_acc_0.025: 0.4210, total/rot_ideal_acc_0.05: 0.5930, per_task/close_jar_pos_l2_err: 0.0052, per_task/close_jar_quat_l1_err: 0.2058, per_task/close_jar_quat_l1_ideal_err: 0.2058, per_task/close_jar_pos_acc_0.01: 0.9318, per_task/close_jar_rot_acc_0.025: 0.6136, per_task/close_jar_rot_acc_0.05: 0.7273, per_task/close_jar_rot_ideal_acc_0.025: 0.6136, per_task/close_jar_rot_ideal_acc_0.05: 0.7273, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0043, per_task/insert_onto_square_peg_quat_l1_err: 0.5003, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.5003, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9667, per_task/insert_onto_square_peg_rot_acc_0.025: 0.6000, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6333, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.6000, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6333, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0042, per_task/light_bulb_in_quat_l1_err: 0.2878, per_task/light_bulb_in_quat_l1_ideal_err: 0.2878, per_task/light_bulb_in_pos_acc_0.01: 0.9808, per_task/light_bulb_in_rot_acc_0.025: 0.5385, per_task/light_bulb_in_rot_acc_0.05: 0.5577, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5385, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5577, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0036, per_task/meat_off_grill_quat_l1_err: 0.2565, per_task/meat_off_grill_quat_l1_ideal_err: 0.2565, per_task/meat_off_grill_pos_acc_0.01: 0.9636, per_task/meat_off_grill_rot_acc_0.025: 0.7273, per_task/meat_off_grill_rot_acc_0.05: 0.8364, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7273, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8364, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0025, per_task/open_drawer_quat_l1_err: 0.8653, per_task/open_drawer_quat_l1_ideal_err: 0.8653, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4211, per_task/open_drawer_rot_acc_0.05: 0.6316, per_task/open_drawer_rot_ideal_acc_0.025: 0.4211, per_task/open_drawer_rot_ideal_acc_0.05: 0.6316, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0048, per_task/place_cups_quat_l1_err: 0.4015, per_task/place_cups_quat_l1_ideal_err: 0.4015, per_task/place_cups_pos_acc_0.01: 0.9648, per_task/place_cups_rot_acc_0.025: 0.1901, per_task/place_cups_rot_acc_0.05: 0.6408, per_task/place_cups_rot_ideal_acc_0.025: 0.1901, per_task/place_cups_rot_ideal_acc_0.05: 0.6408, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0058, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3867, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3867, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9070, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3721, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5116, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3721, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5116, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0057, per_task/place_wine_at_rack_location_quat_l1_err: 0.9748, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9748, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9412, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3333, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3725, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3333, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3725, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0045, per_task/push_buttons_quat_l1_err: 0.0471, per_task/push_buttons_quat_l1_ideal_err: 0.0471, per_task/push_buttons_pos_acc_0.01: 0.9545, per_task/push_buttons_rot_acc_0.025: 0.6364, per_task/push_buttons_rot_acc_0.05: 0.6364, per_task/push_buttons_rot_ideal_acc_0.025: 0.6364, per_task/push_buttons_rot_ideal_acc_0.05: 0.6364, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0094, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5675, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5675, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6458, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3750, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5417, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3750, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5417, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0035, per_task/put_item_in_drawer_quat_l1_err: 0.4700, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4700, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5233, per_task/put_item_in_drawer_rot_acc_0.05: 0.6512, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5233, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6512, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0052, per_task/put_money_in_safe_quat_l1_err: 0.2877, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2877, per_task/put_money_in_safe_pos_acc_0.01: 0.9535, per_task/put_money_in_safe_rot_acc_0.025: 0.0698, per_task/put_money_in_safe_rot_acc_0.05: 0.5116, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0698, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5116, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0036, per_task/reach_and_drag_quat_l1_err: 0.2914, per_task/reach_and_drag_quat_l1_ideal_err: 0.2914, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2963, per_task/reach_and_drag_rot_acc_0.05: 0.4444, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2963, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4444, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0055, per_task/slide_block_to_color_target_quat_l1_err: 0.4873, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4873, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9444, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3889, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5833, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3889, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5833, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0048, per_task/stack_blocks_quat_l1_err: 0.3312, per_task/stack_blocks_quat_l1_ideal_err: 0.3312, per_task/stack_blocks_pos_acc_0.01: 0.9301, per_task/stack_blocks_rot_acc_0.025: 0.5105, per_task/stack_blocks_rot_acc_0.05: 0.5944, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5105, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5944, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0053, per_task/stack_cups_quat_l1_err: 0.2262, per_task/stack_cups_quat_l1_ideal_err: 0.2262, per_task/stack_cups_pos_acc_0.01: 0.9176, per_task/stack_cups_rot_acc_0.025: 0.3647, per_task/stack_cups_rot_acc_0.05: 0.5765, per_task/stack_cups_rot_ideal_acc_0.025: 0.3647, per_task/stack_cups_rot_ideal_acc_0.05: 0.5765, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0266, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2137, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2137, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9394, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7879, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7879, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7879, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7879, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0049, per_task/turn_tap_quat_l1_err: 1.9315, per_task/turn_tap_quat_l1_ideal_err: 1.9315, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 15:05:40 - INFO - __main__ - =============================================== +04/29/2025 15:12:33 - INFO - __main__ - ==============Epoch 735 Step 87500=============== +04/29/2025 15:12:33 - INFO - __main__ - loss_pos:0.0983, loss_rot:0.1693, loss_open:0.0017, loss_total:2.1378 +04/29/2025 15:12:33 - INFO - __main__ - =============================================== +04/29/2025 15:19:27 - INFO - __main__ - ==============Epoch 739 Step 88000=============== +04/29/2025 15:19:27 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1720, loss_open:0.0017, loss_total:2.1447 +04/29/2025 15:19:27 - INFO - __main__ - =============================================== +04/29/2025 15:19:57 - INFO - __main__ - =================Validation================= +04/29/2025 15:19:57 - INFO - __main__ - total/pos_l2_err: 0.0062, total/quat_l1_err: 0.4354, total/quat_l1_ideal_err: 0.4354, total/open_acc: 0.9980, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9570, total/rot_acc_0.025: 0.4200, total/rot_acc_0.05: 0.5910, total/rot_ideal_acc_0.025: 0.4200, total/rot_ideal_acc_0.05: 0.5910, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.2102, per_task/close_jar_quat_l1_ideal_err: 0.2102, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.5778, per_task/close_jar_rot_acc_0.05: 0.6889, per_task/close_jar_rot_ideal_acc_0.025: 0.5778, per_task/close_jar_rot_ideal_acc_0.05: 0.6889, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0045, per_task/insert_onto_square_peg_quat_l1_err: 0.4259, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4259, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9688, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5156, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6406, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5156, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6406, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0033, per_task/light_bulb_in_quat_l1_err: 0.5924, per_task/light_bulb_in_quat_l1_ideal_err: 0.5924, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.4828, per_task/light_bulb_in_rot_acc_0.05: 0.5517, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4828, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5517, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0036, per_task/meat_off_grill_quat_l1_err: 0.1445, per_task/meat_off_grill_quat_l1_ideal_err: 0.1445, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7143, per_task/meat_off_grill_rot_acc_0.05: 0.8333, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7143, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8333, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0036, per_task/open_drawer_quat_l1_err: 1.0770, per_task/open_drawer_quat_l1_ideal_err: 1.0770, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.3077, per_task/open_drawer_rot_acc_0.05: 0.5385, per_task/open_drawer_rot_ideal_acc_0.025: 0.3077, per_task/open_drawer_rot_ideal_acc_0.05: 0.5385, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0048, per_task/place_cups_quat_l1_err: 0.4032, per_task/place_cups_quat_l1_ideal_err: 0.4032, per_task/place_cups_pos_acc_0.01: 0.9554, per_task/place_cups_rot_acc_0.025: 0.2500, per_task/place_cups_rot_acc_0.05: 0.6339, per_task/place_cups_rot_ideal_acc_0.025: 0.2500, per_task/place_cups_rot_ideal_acc_0.05: 0.6339, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0057, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3873, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3873, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8889, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4722, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4722, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5833, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0108, per_task/place_wine_at_rack_location_quat_l1_err: 0.8980, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8980, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9167, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2778, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3333, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2778, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3333, per_task/place_wine_at_rack_location_open_acc: 0.9722, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0052, per_task/push_buttons_quat_l1_err: 0.0387, per_task/push_buttons_quat_l1_ideal_err: 0.0387, per_task/push_buttons_pos_acc_0.01: 0.9189, per_task/push_buttons_rot_acc_0.025: 0.7027, per_task/push_buttons_rot_acc_0.05: 0.7027, per_task/push_buttons_rot_ideal_acc_0.025: 0.7027, per_task/push_buttons_rot_ideal_acc_0.05: 0.7027, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0066, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5068, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5068, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.8947, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4211, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6579, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4211, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6579, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0037, per_task/put_item_in_drawer_quat_l1_err: 0.4636, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4636, per_task/put_item_in_drawer_pos_acc_0.01: 0.9888, per_task/put_item_in_drawer_rot_acc_0.025: 0.4045, per_task/put_item_in_drawer_rot_acc_0.05: 0.6517, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4045, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6517, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0057, per_task/put_money_in_safe_quat_l1_err: 0.3066, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3066, per_task/put_money_in_safe_pos_acc_0.01: 0.8667, per_task/put_money_in_safe_rot_acc_0.025: 0.0667, per_task/put_money_in_safe_rot_acc_0.05: 0.5556, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0667, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5556, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0045, per_task/reach_and_drag_quat_l1_err: 0.3548, per_task/reach_and_drag_quat_l1_ideal_err: 0.3548, per_task/reach_and_drag_pos_acc_0.01: 0.9796, per_task/reach_and_drag_rot_acc_0.025: 0.2245, per_task/reach_and_drag_rot_acc_0.05: 0.4490, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2245, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4490, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0050, per_task/slide_block_to_color_target_quat_l1_err: 0.5140, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5140, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3889, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5556, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3889, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5556, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0043, per_task/stack_blocks_quat_l1_err: 0.3956, per_task/stack_blocks_quat_l1_ideal_err: 0.3956, per_task/stack_blocks_pos_acc_0.01: 0.9645, per_task/stack_blocks_rot_acc_0.025: 0.5603, per_task/stack_blocks_rot_acc_0.05: 0.6241, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5603, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6241, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0047, per_task/stack_cups_quat_l1_err: 0.1688, per_task/stack_cups_quat_l1_ideal_err: 0.1688, per_task/stack_cups_pos_acc_0.01: 0.9643, per_task/stack_cups_rot_acc_0.025: 0.3452, per_task/stack_cups_rot_acc_0.05: 0.5238, per_task/stack_cups_rot_ideal_acc_0.025: 0.3452, per_task/stack_cups_rot_ideal_acc_0.05: 0.5238, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0413, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2582, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2582, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.8462, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6667, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6667, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0045, per_task/turn_tap_quat_l1_err: 2.0491, per_task/turn_tap_quat_l1_ideal_err: 2.0491, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 0.9565, per_task/turn_tap_open_acc_ideal: 0.9565 +04/29/2025 15:19:57 - INFO - __main__ - =============================================== +04/29/2025 15:26:50 - INFO - __main__ - ==============Epoch 743 Step 88500=============== +04/29/2025 15:26:51 - INFO - __main__ - loss_pos:0.0983, loss_rot:0.1684, loss_open:0.0019, loss_total:2.1360 +04/29/2025 15:26:51 - INFO - __main__ - =============================================== +04/29/2025 15:33:42 - INFO - __main__ - ==============Epoch 747 Step 89000=============== +04/29/2025 15:33:42 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1700, loss_open:0.0024, loss_total:2.1397 +04/29/2025 15:33:42 - INFO - __main__ - =============================================== +04/29/2025 15:34:13 - INFO - __main__ - =================Validation================= +04/29/2025 15:34:13 - INFO - __main__ - total/pos_l2_err: 0.0056, total/quat_l1_err: 0.3942, total/quat_l1_ideal_err: 0.3942, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9280, total/rot_acc_0.025: 0.4290, total/rot_acc_0.05: 0.6010, total/rot_ideal_acc_0.025: 0.4290, total/rot_ideal_acc_0.05: 0.6010, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.2986, per_task/close_jar_quat_l1_ideal_err: 0.2986, per_task/close_jar_pos_acc_0.01: 0.9800, per_task/close_jar_rot_acc_0.025: 0.5400, per_task/close_jar_rot_acc_0.05: 0.6000, per_task/close_jar_rot_ideal_acc_0.025: 0.5400, per_task/close_jar_rot_ideal_acc_0.05: 0.6000, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0044, per_task/insert_onto_square_peg_quat_l1_err: 0.4554, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4554, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4750, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6000, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4750, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6000, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0042, per_task/light_bulb_in_quat_l1_err: 0.3056, per_task/light_bulb_in_quat_l1_ideal_err: 0.3056, per_task/light_bulb_in_pos_acc_0.01: 0.9672, per_task/light_bulb_in_rot_acc_0.025: 0.6557, per_task/light_bulb_in_rot_acc_0.05: 0.7213, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6557, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.7213, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0040, per_task/meat_off_grill_quat_l1_err: 0.2183, per_task/meat_off_grill_quat_l1_ideal_err: 0.2183, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7857, per_task/meat_off_grill_rot_acc_0.05: 0.8571, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7857, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8571, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0041, per_task/open_drawer_quat_l1_err: 0.6539, per_task/open_drawer_quat_l1_ideal_err: 0.6539, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4000, per_task/open_drawer_rot_acc_0.05: 0.6667, per_task/open_drawer_rot_ideal_acc_0.025: 0.4000, per_task/open_drawer_rot_ideal_acc_0.05: 0.6667, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0049, per_task/place_cups_quat_l1_err: 0.4133, per_task/place_cups_quat_l1_ideal_err: 0.4133, per_task/place_cups_pos_acc_0.01: 0.9297, per_task/place_cups_rot_acc_0.025: 0.2031, per_task/place_cups_rot_acc_0.05: 0.5938, per_task/place_cups_rot_ideal_acc_0.025: 0.2031, per_task/place_cups_rot_ideal_acc_0.05: 0.5938, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0059, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3930, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3930, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8000, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.2667, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3667, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.2667, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3667, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0054, per_task/place_wine_at_rack_location_quat_l1_err: 1.1214, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1214, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9024, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2683, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3659, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2683, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3659, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0045, per_task/push_buttons_quat_l1_err: 0.0432, per_task/push_buttons_quat_l1_ideal_err: 0.0432, per_task/push_buttons_pos_acc_0.01: 0.9167, per_task/push_buttons_rot_acc_0.025: 0.6667, per_task/push_buttons_rot_acc_0.05: 0.6667, per_task/push_buttons_rot_ideal_acc_0.025: 0.6667, per_task/push_buttons_rot_ideal_acc_0.05: 0.6667, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0094, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5197, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5197, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.5227, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.2955, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5455, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.2955, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5455, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0036, per_task/put_item_in_drawer_quat_l1_err: 0.3829, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3829, per_task/put_item_in_drawer_pos_acc_0.01: 0.9688, per_task/put_item_in_drawer_rot_acc_0.025: 0.5521, per_task/put_item_in_drawer_rot_acc_0.05: 0.6979, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5521, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6979, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0052, per_task/put_money_in_safe_quat_l1_err: 0.3193, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3193, per_task/put_money_in_safe_pos_acc_0.01: 0.9149, per_task/put_money_in_safe_rot_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_acc_0.05: 0.4468, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0000, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4468, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.2962, per_task/reach_and_drag_quat_l1_ideal_err: 0.2962, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2917, per_task/reach_and_drag_rot_acc_0.05: 0.5208, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2917, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5208, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0072, per_task/slide_block_to_color_target_quat_l1_err: 0.3320, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3320, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9130, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5652, per_task/slide_block_to_color_target_rot_acc_0.05: 0.7391, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5652, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.7391, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0050, per_task/stack_blocks_quat_l1_err: 0.4256, per_task/stack_blocks_quat_l1_ideal_err: 0.4256, per_task/stack_blocks_pos_acc_0.01: 0.9384, per_task/stack_blocks_rot_acc_0.025: 0.4247, per_task/stack_blocks_rot_acc_0.05: 0.5685, per_task/stack_blocks_rot_ideal_acc_0.025: 0.4247, per_task/stack_blocks_rot_ideal_acc_0.05: 0.5685, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0046, per_task/stack_cups_quat_l1_err: 0.1282, per_task/stack_cups_quat_l1_ideal_err: 0.1282, per_task/stack_cups_pos_acc_0.01: 0.9560, per_task/stack_cups_rot_acc_0.025: 0.4945, per_task/stack_cups_rot_acc_0.05: 0.6484, per_task/stack_cups_rot_ideal_acc_0.025: 0.4945, per_task/stack_cups_rot_ideal_acc_0.05: 0.6484, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0203, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2683, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2683, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9362, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7447, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7447, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7447, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7447, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0054, per_task/turn_tap_quat_l1_err: 1.8849, per_task/turn_tap_quat_l1_ideal_err: 1.8849, per_task/turn_tap_pos_acc_0.01: 0.9333, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 15:34:13 - INFO - __main__ - =============================================== +04/29/2025 15:41:08 - INFO - __main__ - ==============Epoch 752 Step 89500=============== +04/29/2025 15:41:08 - INFO - __main__ - loss_pos:0.0983, loss_rot:0.1703, loss_open:0.0023, loss_total:2.1391 +04/29/2025 15:41:08 - INFO - __main__ - =============================================== +04/29/2025 15:48:03 - INFO - __main__ - ==============Epoch 756 Step 90000=============== +04/29/2025 15:48:03 - INFO - __main__ - loss_pos:0.0984, loss_rot:0.1658, loss_open:0.0023, loss_total:2.1366 +04/29/2025 15:48:03 - INFO - __main__ - =============================================== +04/29/2025 15:48:34 - INFO - __main__ - =================Validation================= +04/29/2025 15:48:34 - INFO - __main__ - total/pos_l2_err: 0.0049, total/quat_l1_err: 0.3809, total/quat_l1_ideal_err: 0.3809, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9480, total/rot_acc_0.025: 0.4600, total/rot_acc_0.05: 0.6350, total/rot_ideal_acc_0.025: 0.4600, total/rot_ideal_acc_0.05: 0.6350, per_task/close_jar_pos_l2_err: 0.0037, per_task/close_jar_quat_l1_err: 0.2535, per_task/close_jar_quat_l1_ideal_err: 0.2535, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.6500, per_task/close_jar_rot_acc_0.05: 0.7000, per_task/close_jar_rot_ideal_acc_0.025: 0.6500, per_task/close_jar_rot_ideal_acc_0.05: 0.7000, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0043, per_task/insert_onto_square_peg_quat_l1_err: 0.4390, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4390, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9804, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5686, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4902, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5686, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0040, per_task/light_bulb_in_quat_l1_err: 0.3314, per_task/light_bulb_in_quat_l1_ideal_err: 0.3314, per_task/light_bulb_in_pos_acc_0.01: 0.9851, per_task/light_bulb_in_rot_acc_0.025: 0.5522, per_task/light_bulb_in_rot_acc_0.05: 0.5970, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5522, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5970, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0040, per_task/meat_off_grill_quat_l1_err: 0.1482, per_task/meat_off_grill_quat_l1_ideal_err: 0.1482, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.8000, per_task/meat_off_grill_rot_acc_0.05: 0.8889, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.8000, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8889, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0043, per_task/open_drawer_quat_l1_err: 0.8440, per_task/open_drawer_quat_l1_ideal_err: 0.8440, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4091, per_task/open_drawer_rot_acc_0.05: 0.6364, per_task/open_drawer_rot_ideal_acc_0.025: 0.4091, per_task/open_drawer_rot_ideal_acc_0.05: 0.6364, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0059, per_task/place_cups_quat_l1_err: 0.3851, per_task/place_cups_quat_l1_ideal_err: 0.3851, per_task/place_cups_pos_acc_0.01: 0.9394, per_task/place_cups_rot_acc_0.025: 0.2348, per_task/place_cups_rot_acc_0.05: 0.6894, per_task/place_cups_rot_ideal_acc_0.025: 0.2348, per_task/place_cups_rot_ideal_acc_0.05: 0.6894, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0060, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5665, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5665, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8654, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4615, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5192, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4615, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5192, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0063, per_task/place_wine_at_rack_location_quat_l1_err: 1.1384, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1384, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8537, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2439, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2927, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2439, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2927, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0046, per_task/push_buttons_quat_l1_err: 0.0254, per_task/push_buttons_quat_l1_ideal_err: 0.0254, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.8065, per_task/push_buttons_rot_acc_0.05: 0.8065, per_task/push_buttons_rot_ideal_acc_0.025: 0.8065, per_task/push_buttons_rot_ideal_acc_0.05: 0.8065, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0079, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4031, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4031, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7805, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4634, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6585, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4634, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6585, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0038, per_task/put_item_in_drawer_quat_l1_err: 0.3488, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3488, per_task/put_item_in_drawer_pos_acc_0.01: 0.9889, per_task/put_item_in_drawer_rot_acc_0.025: 0.5778, per_task/put_item_in_drawer_rot_acc_0.05: 0.7444, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5778, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7444, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0046, per_task/put_money_in_safe_quat_l1_err: 0.2096, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2096, per_task/put_money_in_safe_pos_acc_0.01: 0.9500, per_task/put_money_in_safe_rot_acc_0.025: 0.0500, per_task/put_money_in_safe_rot_acc_0.05: 0.5750, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0500, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5750, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0044, per_task/reach_and_drag_quat_l1_err: 0.3321, per_task/reach_and_drag_quat_l1_ideal_err: 0.3321, per_task/reach_and_drag_pos_acc_0.01: 0.9516, per_task/reach_and_drag_rot_acc_0.025: 0.2903, per_task/reach_and_drag_rot_acc_0.05: 0.5161, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2903, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5161, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0047, per_task/slide_block_to_color_target_quat_l1_err: 0.5498, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5498, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9688, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3438, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4062, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3438, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4062, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0045, per_task/stack_blocks_quat_l1_err: 0.2770, per_task/stack_blocks_quat_l1_ideal_err: 0.2770, per_task/stack_blocks_pos_acc_0.01: 0.9462, per_task/stack_blocks_rot_acc_0.025: 0.5692, per_task/stack_blocks_rot_acc_0.05: 0.7231, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5692, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7231, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0046, per_task/stack_cups_quat_l1_err: 0.1105, per_task/stack_cups_quat_l1_ideal_err: 0.1105, per_task/stack_cups_pos_acc_0.01: 0.9494, per_task/stack_cups_rot_acc_0.025: 0.4557, per_task/stack_cups_rot_acc_0.05: 0.6076, per_task/stack_cups_rot_ideal_acc_0.025: 0.4557, per_task/stack_cups_rot_ideal_acc_0.05: 0.6076, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0044, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2179, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2179, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 1.0000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7576, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7576, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7576, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7576, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0063, per_task/turn_tap_quat_l1_err: 2.2281, per_task/turn_tap_quat_l1_ideal_err: 2.2281, per_task/turn_tap_pos_acc_0.01: 0.8333, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 15:48:34 - INFO - __main__ - =============================================== +04/29/2025 15:55:31 - INFO - __main__ - ==============Epoch 760 Step 90500=============== +04/29/2025 15:55:31 - INFO - __main__ - loss_pos:0.0986, loss_rot:0.1714, loss_open:0.0021, loss_total:2.1447 +04/29/2025 15:55:31 - INFO - __main__ - =============================================== +04/29/2025 16:02:26 - INFO - __main__ - ==============Epoch 764 Step 91000=============== +04/29/2025 16:02:27 - INFO - __main__ - loss_pos:0.0988, loss_rot:0.1707, loss_open:0.0014, loss_total:2.1474 +04/29/2025 16:02:27 - INFO - __main__ - =============================================== +04/29/2025 16:02:58 - INFO - __main__ - =================Validation================= +04/29/2025 16:02:58 - INFO - __main__ - total/pos_l2_err: 0.0062, total/quat_l1_err: 0.4020, total/quat_l1_ideal_err: 0.4020, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9470, total/rot_acc_0.025: 0.4490, total/rot_acc_0.05: 0.6150, total/rot_ideal_acc_0.025: 0.4490, total/rot_ideal_acc_0.05: 0.6150, per_task/close_jar_pos_l2_err: 0.0036, per_task/close_jar_quat_l1_err: 0.2805, per_task/close_jar_quat_l1_ideal_err: 0.2805, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.5636, per_task/close_jar_rot_acc_0.05: 0.6000, per_task/close_jar_rot_ideal_acc_0.025: 0.5636, per_task/close_jar_rot_ideal_acc_0.05: 0.6000, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0046, per_task/insert_onto_square_peg_quat_l1_err: 0.4477, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4477, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5806, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6129, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5806, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6129, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0044, per_task/light_bulb_in_quat_l1_err: 0.6201, per_task/light_bulb_in_quat_l1_ideal_err: 0.6201, per_task/light_bulb_in_pos_acc_0.01: 0.9600, per_task/light_bulb_in_rot_acc_0.025: 0.4400, per_task/light_bulb_in_rot_acc_0.05: 0.4600, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4400, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4600, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0037, per_task/meat_off_grill_quat_l1_err: 0.2394, per_task/meat_off_grill_quat_l1_ideal_err: 0.2394, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7458, per_task/meat_off_grill_rot_acc_0.05: 0.8136, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7458, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8136, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0036, per_task/open_drawer_quat_l1_err: 0.5469, per_task/open_drawer_quat_l1_ideal_err: 0.5469, per_task/open_drawer_pos_acc_0.01: 0.9615, per_task/open_drawer_rot_acc_0.025: 0.4231, per_task/open_drawer_rot_acc_0.05: 0.7308, per_task/open_drawer_rot_ideal_acc_0.025: 0.4231, per_task/open_drawer_rot_ideal_acc_0.05: 0.7308, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0044, per_task/place_cups_quat_l1_err: 0.2909, per_task/place_cups_quat_l1_ideal_err: 0.2909, per_task/place_cups_pos_acc_0.01: 0.9648, per_task/place_cups_rot_acc_0.025: 0.2394, per_task/place_cups_rot_acc_0.05: 0.7113, per_task/place_cups_rot_ideal_acc_0.025: 0.2394, per_task/place_cups_rot_ideal_acc_0.05: 0.7113, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0061, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.7089, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.7089, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8333, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3611, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.3889, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3611, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.3889, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0063, per_task/place_wine_at_rack_location_quat_l1_err: 0.8878, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.8878, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8710, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1935, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4194, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1935, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4194, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0039, per_task/push_buttons_quat_l1_err: 0.0264, per_task/push_buttons_quat_l1_ideal_err: 0.0264, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.8000, per_task/push_buttons_rot_acc_0.05: 0.8000, per_task/push_buttons_rot_ideal_acc_0.025: 0.8000, per_task/push_buttons_rot_ideal_acc_0.05: 0.8000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0071, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6361, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6361, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.8372, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4419, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5349, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4419, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5349, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0036, per_task/put_item_in_drawer_quat_l1_err: 0.4735, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4735, per_task/put_item_in_drawer_pos_acc_0.01: 0.9888, per_task/put_item_in_drawer_rot_acc_0.025: 0.4382, per_task/put_item_in_drawer_rot_acc_0.05: 0.6629, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.4382, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.6629, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0069, per_task/put_money_in_safe_quat_l1_err: 0.2064, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2064, per_task/put_money_in_safe_pos_acc_0.01: 0.9474, per_task/put_money_in_safe_rot_acc_0.025: 0.0263, per_task/put_money_in_safe_rot_acc_0.05: 0.5526, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0263, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5526, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0035, per_task/reach_and_drag_quat_l1_err: 0.3781, per_task/reach_and_drag_quat_l1_ideal_err: 0.3781, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3261, per_task/reach_and_drag_rot_acc_0.05: 0.5000, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3261, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5000, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0062, per_task/slide_block_to_color_target_quat_l1_err: 0.5201, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5201, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8889, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4074, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5185, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4074, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5185, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0061, per_task/stack_blocks_quat_l1_err: 0.3331, per_task/stack_blocks_quat_l1_ideal_err: 0.3331, per_task/stack_blocks_pos_acc_0.01: 0.9145, per_task/stack_blocks_rot_acc_0.025: 0.6382, per_task/stack_blocks_rot_acc_0.05: 0.6974, per_task/stack_blocks_rot_ideal_acc_0.025: 0.6382, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6974, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0043, per_task/stack_cups_quat_l1_err: 0.1009, per_task/stack_cups_quat_l1_ideal_err: 0.1009, per_task/stack_cups_pos_acc_0.01: 0.9494, per_task/stack_cups_rot_acc_0.025: 0.4051, per_task/stack_cups_rot_acc_0.05: 0.5443, per_task/stack_cups_rot_ideal_acc_0.025: 0.4051, per_task/stack_cups_rot_ideal_acc_0.05: 0.5443, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0224, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3100, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3100, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9268, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.6829, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.6829, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.6829, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.6829, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0385, per_task/turn_tap_quat_l1_err: 1.8984, per_task/turn_tap_quat_l1_ideal_err: 1.8984, per_task/turn_tap_pos_acc_0.01: 0.9000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 16:02:58 - INFO - __main__ - =============================================== +04/29/2025 16:09:53 - INFO - __main__ - ==============Epoch 768 Step 91500=============== +04/29/2025 16:09:53 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1727, loss_open:0.0014, loss_total:2.1476 +04/29/2025 16:09:53 - INFO - __main__ - =============================================== +04/29/2025 16:16:50 - INFO - __main__ - ==============Epoch 773 Step 92000=============== +04/29/2025 16:16:50 - INFO - __main__ - loss_pos:0.0985, loss_rot:0.1721, loss_open:0.0021, loss_total:2.1446 +04/29/2025 16:16:50 - INFO - __main__ - =============================================== +04/29/2025 16:17:20 - INFO - __main__ - =================Validation================= +04/29/2025 16:17:20 - INFO - __main__ - total/pos_l2_err: 0.0049, total/quat_l1_err: 0.3970, total/quat_l1_ideal_err: 0.3970, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9590, total/rot_acc_0.025: 0.4510, total/rot_acc_0.05: 0.6210, total/rot_ideal_acc_0.025: 0.4510, total/rot_ideal_acc_0.05: 0.6210, per_task/close_jar_pos_l2_err: 0.0041, per_task/close_jar_quat_l1_err: 0.1233, per_task/close_jar_quat_l1_ideal_err: 0.1233, per_task/close_jar_pos_acc_0.01: 0.9825, per_task/close_jar_rot_acc_0.025: 0.6316, per_task/close_jar_rot_acc_0.05: 0.7368, per_task/close_jar_rot_ideal_acc_0.025: 0.6316, per_task/close_jar_rot_ideal_acc_0.05: 0.7368, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0039, per_task/insert_onto_square_peg_quat_l1_err: 0.3168, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3168, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5278, per_task/insert_onto_square_peg_rot_acc_0.05: 0.7222, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5278, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.7222, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0036, per_task/light_bulb_in_quat_l1_err: 0.5287, per_task/light_bulb_in_quat_l1_ideal_err: 0.5287, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.4333, per_task/light_bulb_in_rot_acc_0.05: 0.4667, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.4333, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.4667, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0034, per_task/meat_off_grill_quat_l1_err: 0.2752, per_task/meat_off_grill_quat_l1_ideal_err: 0.2752, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7647, per_task/meat_off_grill_rot_acc_0.05: 0.7941, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7647, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7941, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0040, per_task/open_drawer_quat_l1_err: 0.5474, per_task/open_drawer_quat_l1_ideal_err: 0.5474, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4231, per_task/open_drawer_rot_acc_0.05: 0.7692, per_task/open_drawer_rot_ideal_acc_0.025: 0.4231, per_task/open_drawer_rot_ideal_acc_0.05: 0.7692, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0040, per_task/place_cups_quat_l1_err: 0.3612, per_task/place_cups_quat_l1_ideal_err: 0.3612, per_task/place_cups_pos_acc_0.01: 0.9704, per_task/place_cups_rot_acc_0.025: 0.2815, per_task/place_cups_rot_acc_0.05: 0.7185, per_task/place_cups_rot_ideal_acc_0.025: 0.2815, per_task/place_cups_rot_ideal_acc_0.05: 0.7185, per_task/place_cups_open_acc: 0.9926, per_task/place_cups_open_acc_ideal: 0.9926, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0056, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5543, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5543, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9286, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4524, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4524, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5000, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0066, per_task/place_wine_at_rack_location_quat_l1_err: 0.9680, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9680, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8667, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1778, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4000, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1778, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4000, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0044, per_task/push_buttons_quat_l1_err: 0.0371, per_task/push_buttons_quat_l1_ideal_err: 0.0371, per_task/push_buttons_pos_acc_0.01: 1.0000, per_task/push_buttons_rot_acc_0.025: 0.7143, per_task/push_buttons_rot_acc_0.05: 0.7143, per_task/push_buttons_rot_ideal_acc_0.025: 0.7143, per_task/push_buttons_rot_ideal_acc_0.05: 0.7143, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0079, per_task/put_groceries_in_cupboard_quat_l1_err: 0.5695, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.5695, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.7333, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4000, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5333, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4000, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5333, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0039, per_task/put_item_in_drawer_quat_l1_err: 0.3803, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3803, per_task/put_item_in_drawer_pos_acc_0.01: 0.9891, per_task/put_item_in_drawer_rot_acc_0.025: 0.5543, per_task/put_item_in_drawer_rot_acc_0.05: 0.7391, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5543, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7391, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0057, per_task/put_money_in_safe_quat_l1_err: 0.2710, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2710, per_task/put_money_in_safe_pos_acc_0.01: 0.8462, per_task/put_money_in_safe_rot_acc_0.025: 0.0769, per_task/put_money_in_safe_rot_acc_0.05: 0.4872, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0769, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4872, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0042, per_task/reach_and_drag_quat_l1_err: 0.3322, per_task/reach_and_drag_quat_l1_ideal_err: 0.3322, per_task/reach_and_drag_pos_acc_0.01: 0.9792, per_task/reach_and_drag_rot_acc_0.025: 0.1667, per_task/reach_and_drag_rot_acc_0.05: 0.4167, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.1667, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4167, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0052, per_task/slide_block_to_color_target_quat_l1_err: 0.4832, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.4832, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9500, per_task/slide_block_to_color_target_rot_acc_0.025: 0.5250, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6250, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.5250, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6250, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0043, per_task/stack_blocks_quat_l1_err: 0.4122, per_task/stack_blocks_quat_l1_ideal_err: 0.4122, per_task/stack_blocks_pos_acc_0.01: 0.9718, per_task/stack_blocks_rot_acc_0.025: 0.5352, per_task/stack_blocks_rot_acc_0.05: 0.6338, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5352, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6338, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0043, per_task/stack_cups_quat_l1_err: 0.1337, per_task/stack_cups_quat_l1_ideal_err: 0.1337, per_task/stack_cups_pos_acc_0.01: 0.9651, per_task/stack_cups_rot_acc_0.025: 0.4767, per_task/stack_cups_rot_acc_0.05: 0.5581, per_task/stack_cups_rot_ideal_acc_0.025: 0.4767, per_task/stack_cups_rot_ideal_acc_0.05: 0.5581, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0151, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2229, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2229, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9474, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8158, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8158, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8158, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8158, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0049, per_task/turn_tap_quat_l1_err: 1.9960, per_task/turn_tap_quat_l1_ideal_err: 1.9960, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 16:17:20 - INFO - __main__ - =============================================== +04/29/2025 16:24:17 - INFO - __main__ - ==============Epoch 777 Step 92500=============== +04/29/2025 16:24:17 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1712, loss_open:0.0024, loss_total:2.1480 +04/29/2025 16:24:17 - INFO - __main__ - =============================================== +04/29/2025 16:31:09 - INFO - __main__ - ==============Epoch 781 Step 93000=============== +04/29/2025 16:31:09 - INFO - __main__ - loss_pos:0.0987, loss_rot:0.1710, loss_open:0.0026, loss_total:2.1478 +04/29/2025 16:31:09 - INFO - __main__ - =============================================== +04/29/2025 16:31:40 - INFO - __main__ - =================Validation================= +04/29/2025 16:31:40 - INFO - __main__ - total/pos_l2_err: 0.0059, total/quat_l1_err: 0.3876, total/quat_l1_ideal_err: 0.3876, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9380, total/rot_acc_0.025: 0.4580, total/rot_acc_0.05: 0.6400, total/rot_ideal_acc_0.025: 0.4580, total/rot_ideal_acc_0.05: 0.6400, per_task/close_jar_pos_l2_err: 0.0042, per_task/close_jar_quat_l1_err: 0.2184, per_task/close_jar_quat_l1_ideal_err: 0.2184, per_task/close_jar_pos_acc_0.01: 0.9434, per_task/close_jar_rot_acc_0.025: 0.6415, per_task/close_jar_rot_acc_0.05: 0.7170, per_task/close_jar_rot_ideal_acc_0.025: 0.6415, per_task/close_jar_rot_ideal_acc_0.05: 0.7170, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0039, per_task/insert_onto_square_peg_quat_l1_err: 0.3225, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3225, per_task/insert_onto_square_peg_pos_acc_0.01: 1.0000, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4878, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6341, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4878, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6341, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0041, per_task/light_bulb_in_quat_l1_err: 0.4486, per_task/light_bulb_in_quat_l1_ideal_err: 0.4486, per_task/light_bulb_in_pos_acc_0.01: 0.9831, per_task/light_bulb_in_rot_acc_0.025: 0.6271, per_task/light_bulb_in_rot_acc_0.05: 0.6780, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6271, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6780, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0032, per_task/meat_off_grill_quat_l1_err: 0.2767, per_task/meat_off_grill_quat_l1_ideal_err: 0.2767, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7619, per_task/meat_off_grill_rot_acc_0.05: 0.8095, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7619, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.8095, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0040, per_task/open_drawer_quat_l1_err: 0.5727, per_task/open_drawer_quat_l1_ideal_err: 0.5727, per_task/open_drawer_pos_acc_0.01: 0.9600, per_task/open_drawer_rot_acc_0.025: 0.3600, per_task/open_drawer_rot_acc_0.05: 0.7200, per_task/open_drawer_rot_ideal_acc_0.025: 0.3600, per_task/open_drawer_rot_ideal_acc_0.05: 0.7200, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0051, per_task/place_cups_quat_l1_err: 0.3852, per_task/place_cups_quat_l1_ideal_err: 0.3852, per_task/place_cups_pos_acc_0.01: 0.9449, per_task/place_cups_rot_acc_0.025: 0.2047, per_task/place_cups_rot_acc_0.05: 0.6457, per_task/place_cups_rot_ideal_acc_0.025: 0.2047, per_task/place_cups_rot_ideal_acc_0.05: 0.6457, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0062, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3962, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3962, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8182, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5000, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6136, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5000, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6136, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0054, per_task/place_wine_at_rack_location_quat_l1_err: 0.7349, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.7349, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9333, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3111, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.5111, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3111, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.5111, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0041, per_task/push_buttons_quat_l1_err: 0.0262, per_task/push_buttons_quat_l1_ideal_err: 0.0262, per_task/push_buttons_pos_acc_0.01: 0.9600, per_task/push_buttons_rot_acc_0.025: 0.8000, per_task/push_buttons_rot_acc_0.05: 0.8000, per_task/push_buttons_rot_ideal_acc_0.025: 0.8000, per_task/push_buttons_rot_ideal_acc_0.05: 0.8000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0080, per_task/put_groceries_in_cupboard_quat_l1_err: 0.7026, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.7026, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6500, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3250, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.4250, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3250, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.4250, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0037, per_task/put_item_in_drawer_quat_l1_err: 0.3595, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3595, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5670, per_task/put_item_in_drawer_rot_acc_0.05: 0.7216, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5670, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7216, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0067, per_task/put_money_in_safe_quat_l1_err: 0.2292, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2292, per_task/put_money_in_safe_pos_acc_0.01: 0.8158, per_task/put_money_in_safe_rot_acc_0.025: 0.0263, per_task/put_money_in_safe_rot_acc_0.05: 0.6316, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0263, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.6316, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0037, per_task/reach_and_drag_quat_l1_err: 0.2955, per_task/reach_and_drag_quat_l1_ideal_err: 0.2955, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3929, per_task/reach_and_drag_rot_acc_0.05: 0.5714, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3929, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.5714, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0050, per_task/slide_block_to_color_target_quat_l1_err: 0.6706, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.6706, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.3514, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4595, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.3514, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4595, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0048, per_task/stack_blocks_quat_l1_err: 0.3097, per_task/stack_blocks_quat_l1_ideal_err: 0.3097, per_task/stack_blocks_pos_acc_0.01: 0.9512, per_task/stack_blocks_rot_acc_0.025: 0.5772, per_task/stack_blocks_rot_acc_0.05: 0.7073, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5772, per_task/stack_blocks_rot_ideal_acc_0.05: 0.7073, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0048, per_task/stack_cups_quat_l1_err: 0.1787, per_task/stack_cups_quat_l1_ideal_err: 0.1787, per_task/stack_cups_pos_acc_0.01: 0.9333, per_task/stack_cups_rot_acc_0.025: 0.4333, per_task/stack_cups_rot_acc_0.05: 0.6111, per_task/stack_cups_rot_ideal_acc_0.025: 0.4333, per_task/stack_cups_rot_ideal_acc_0.05: 0.6111, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0324, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2808, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2808, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9000, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7500, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7500, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7500, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7500, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0054, per_task/turn_tap_quat_l1_err: 1.7670, per_task/turn_tap_quat_l1_ideal_err: 1.7670, per_task/turn_tap_pos_acc_0.01: 0.9444, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 16:31:40 - INFO - __main__ - =============================================== +04/29/2025 16:38:27 - INFO - __main__ - ==============Epoch 785 Step 93500=============== +04/29/2025 16:38:27 - INFO - __main__ - loss_pos:0.0989, loss_rot:0.1745, loss_open:0.0023, loss_total:2.1552 +04/29/2025 16:38:27 - INFO - __main__ - =============================================== +04/29/2025 16:45:18 - INFO - __main__ - ==============Epoch 789 Step 94000=============== +04/29/2025 16:45:18 - INFO - __main__ - loss_pos:0.0990, loss_rot:0.1722, loss_open:0.0026, loss_total:2.1540 +04/29/2025 16:45:18 - INFO - __main__ - =============================================== +04/29/2025 16:45:49 - INFO - __main__ - =================Validation================= +04/29/2025 16:45:49 - INFO - __main__ - total/pos_l2_err: 0.0054, total/quat_l1_err: 0.3811, total/quat_l1_ideal_err: 0.3811, total/open_acc: 0.9990, total/open_acc_ideal: 0.9990, total/pos_acc_0.01: 0.9440, total/rot_acc_0.025: 0.4440, total/rot_acc_0.05: 0.6290, total/rot_ideal_acc_0.025: 0.4440, total/rot_ideal_acc_0.05: 0.6290, per_task/close_jar_pos_l2_err: 0.0045, per_task/close_jar_quat_l1_err: 0.1994, per_task/close_jar_quat_l1_ideal_err: 0.1994, per_task/close_jar_pos_acc_0.01: 1.0000, per_task/close_jar_rot_acc_0.025: 0.6098, per_task/close_jar_rot_acc_0.05: 0.6585, per_task/close_jar_rot_ideal_acc_0.025: 0.6098, per_task/close_jar_rot_ideal_acc_0.05: 0.6585, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0050, per_task/insert_onto_square_peg_quat_l1_err: 0.4789, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4789, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9800, per_task/insert_onto_square_peg_rot_acc_0.025: 0.4800, per_task/insert_onto_square_peg_rot_acc_0.05: 0.5800, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.4800, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.5800, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0040, per_task/light_bulb_in_quat_l1_err: 0.3238, per_task/light_bulb_in_quat_l1_ideal_err: 0.3238, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.6154, per_task/light_bulb_in_rot_acc_0.05: 0.6731, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.6154, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.6731, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0042, per_task/meat_off_grill_quat_l1_err: 0.3615, per_task/meat_off_grill_quat_l1_ideal_err: 0.3615, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.6531, per_task/meat_off_grill_rot_acc_0.05: 0.7551, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.6531, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7551, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0041, per_task/open_drawer_quat_l1_err: 0.9861, per_task/open_drawer_quat_l1_ideal_err: 0.9861, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.3548, per_task/open_drawer_rot_acc_0.05: 0.4839, per_task/open_drawer_rot_ideal_acc_0.025: 0.3548, per_task/open_drawer_rot_ideal_acc_0.05: 0.4839, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0053, per_task/place_cups_quat_l1_err: 0.3141, per_task/place_cups_quat_l1_ideal_err: 0.3141, per_task/place_cups_pos_acc_0.01: 0.9270, per_task/place_cups_rot_acc_0.025: 0.2263, per_task/place_cups_rot_acc_0.05: 0.6788, per_task/place_cups_rot_ideal_acc_0.025: 0.2263, per_task/place_cups_rot_ideal_acc_0.05: 0.6788, per_task/place_cups_open_acc: 0.9927, per_task/place_cups_open_acc_ideal: 0.9927, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0069, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.4826, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.4826, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.8056, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.3056, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.5278, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.3056, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.5278, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0050, per_task/push_buttons_quat_l1_err: 0.0263, per_task/push_buttons_quat_l1_ideal_err: 0.0263, per_task/push_buttons_pos_acc_0.01: 0.9200, per_task/push_buttons_rot_acc_0.025: 0.8000, per_task/push_buttons_rot_acc_0.05: 0.8000, per_task/push_buttons_rot_ideal_acc_0.025: 0.8000, per_task/push_buttons_rot_ideal_acc_0.05: 0.8000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0094, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4258, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4258, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6512, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4884, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6977, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4884, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6977, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0041, per_task/put_item_in_drawer_quat_l1_err: 0.4063, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.4063, per_task/put_item_in_drawer_pos_acc_0.01: 0.9917, per_task/put_item_in_drawer_rot_acc_0.025: 0.5455, per_task/put_item_in_drawer_rot_acc_0.05: 0.7025, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5455, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7025, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0053, per_task/put_money_in_safe_quat_l1_err: 0.3273, per_task/put_money_in_safe_quat_l1_ideal_err: 0.3273, per_task/put_money_in_safe_pos_acc_0.01: 0.9362, per_task/put_money_in_safe_rot_acc_0.025: 0.0426, per_task/put_money_in_safe_rot_acc_0.05: 0.4468, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0426, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.4468, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0043, per_task/reach_and_drag_quat_l1_err: 0.1960, per_task/reach_and_drag_quat_l1_ideal_err: 0.1960, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.3519, per_task/reach_and_drag_rot_acc_0.05: 0.6481, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.3519, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.6481, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0055, per_task/slide_block_to_color_target_quat_l1_err: 0.2135, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.2135, per_task/slide_block_to_color_target_pos_acc_0.01: 0.9286, per_task/slide_block_to_color_target_rot_acc_0.025: 0.4643, per_task/slide_block_to_color_target_rot_acc_0.05: 0.6786, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.4643, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.6786, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0053, per_task/stack_blocks_quat_l1_err: 0.3123, per_task/stack_blocks_quat_l1_ideal_err: 0.3123, per_task/stack_blocks_pos_acc_0.01: 0.9375, per_task/stack_blocks_rot_acc_0.025: 0.5781, per_task/stack_blocks_rot_acc_0.05: 0.6641, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5781, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6641, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0049, per_task/stack_cups_quat_l1_err: 0.2139, per_task/stack_cups_quat_l1_ideal_err: 0.2139, per_task/stack_cups_pos_acc_0.01: 0.9487, per_task/stack_cups_rot_acc_0.025: 0.3846, per_task/stack_cups_rot_acc_0.05: 0.5256, per_task/stack_cups_rot_ideal_acc_0.025: 0.3846, per_task/stack_cups_rot_ideal_acc_0.05: 0.5256, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0169, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2329, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2329, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9667, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.8333, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.8333, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.8333, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.8333, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0052, per_task/turn_tap_quat_l1_err: 1.7317, per_task/turn_tap_quat_l1_ideal_err: 1.7317, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0050, per_task/place_wine_at_rack_location_quat_l1_err: 0.9855, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.9855, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9444, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.2222, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.3611, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.2222, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.3611, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000 +04/29/2025 16:45:49 - INFO - __main__ - =============================================== +04/29/2025 16:52:51 - INFO - __main__ - ==============Epoch 794 Step 94500=============== +04/29/2025 16:52:51 - INFO - __main__ - loss_pos:0.0990, loss_rot:0.1751, loss_open:0.0021, loss_total:2.1581 +04/29/2025 16:52:51 - INFO - __main__ - =============================================== +04/29/2025 16:59:44 - INFO - __main__ - ==============Epoch 798 Step 95000=============== +04/29/2025 16:59:44 - INFO - __main__ - loss_pos:0.0992, loss_rot:0.1723, loss_open:0.0024, loss_total:2.1579 +04/29/2025 16:59:44 - INFO - __main__ - =============================================== +04/29/2025 17:00:15 - INFO - __main__ - =================Validation================= +04/29/2025 17:00:15 - INFO - __main__ - total/pos_l2_err: 0.0051, total/quat_l1_err: 0.4068, total/quat_l1_ideal_err: 0.4068, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9470, total/rot_acc_0.025: 0.4470, total/rot_acc_0.05: 0.6140, total/rot_ideal_acc_0.025: 0.4470, total/rot_ideal_acc_0.05: 0.6140, per_task/close_jar_pos_l2_err: 0.0048, per_task/close_jar_quat_l1_err: 0.1787, per_task/close_jar_quat_l1_ideal_err: 0.1787, per_task/close_jar_pos_acc_0.01: 0.9524, per_task/close_jar_rot_acc_0.025: 0.6190, per_task/close_jar_rot_acc_0.05: 0.7143, per_task/close_jar_rot_ideal_acc_0.025: 0.6190, per_task/close_jar_rot_ideal_acc_0.05: 0.7143, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0045, per_task/insert_onto_square_peg_quat_l1_err: 0.3395, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.3395, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9762, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6429, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5000, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6429, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0035, per_task/light_bulb_in_quat_l1_err: 0.4239, per_task/light_bulb_in_quat_l1_ideal_err: 0.4239, per_task/light_bulb_in_pos_acc_0.01: 1.0000, per_task/light_bulb_in_rot_acc_0.025: 0.5205, per_task/light_bulb_in_rot_acc_0.05: 0.5616, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5205, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5616, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0037, per_task/meat_off_grill_quat_l1_err: 0.1890, per_task/meat_off_grill_quat_l1_ideal_err: 0.1890, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.7143, per_task/meat_off_grill_rot_acc_0.05: 0.7959, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.7143, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.7959, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0041, per_task/open_drawer_quat_l1_err: 0.9542, per_task/open_drawer_quat_l1_ideal_err: 0.9542, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.3636, per_task/open_drawer_rot_acc_0.05: 0.4545, per_task/open_drawer_rot_ideal_acc_0.025: 0.3636, per_task/open_drawer_rot_ideal_acc_0.05: 0.4545, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0045, per_task/place_cups_quat_l1_err: 0.5278, per_task/place_cups_quat_l1_ideal_err: 0.5278, per_task/place_cups_pos_acc_0.01: 0.9714, per_task/place_cups_rot_acc_0.025: 0.1714, per_task/place_cups_rot_acc_0.05: 0.5714, per_task/place_cups_rot_ideal_acc_0.025: 0.1714, per_task/place_cups_rot_ideal_acc_0.05: 0.5714, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0059, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.5139, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.5139, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9302, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.5349, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6047, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.5349, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6047, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0061, per_task/place_wine_at_rack_location_quat_l1_err: 1.1029, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 1.1029, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.8431, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.1569, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.2353, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.1569, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.2353, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0041, per_task/push_buttons_quat_l1_err: 0.0269, per_task/push_buttons_quat_l1_ideal_err: 0.0269, per_task/push_buttons_pos_acc_0.01: 0.9773, per_task/push_buttons_rot_acc_0.025: 0.7955, per_task/push_buttons_rot_acc_0.05: 0.7955, per_task/push_buttons_rot_ideal_acc_0.025: 0.7955, per_task/push_buttons_rot_ideal_acc_0.05: 0.7955, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0092, per_task/put_groceries_in_cupboard_quat_l1_err: 0.6186, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.6186, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6905, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.4048, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.5714, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.4048, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.5714, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0035, per_task/put_item_in_drawer_quat_l1_err: 0.3045, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.3045, per_task/put_item_in_drawer_pos_acc_0.01: 1.0000, per_task/put_item_in_drawer_rot_acc_0.025: 0.5980, per_task/put_item_in_drawer_rot_acc_0.05: 0.7843, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.5980, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.7843, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0053, per_task/put_money_in_safe_quat_l1_err: 0.2430, per_task/put_money_in_safe_quat_l1_ideal_err: 0.2430, per_task/put_money_in_safe_pos_acc_0.01: 0.9024, per_task/put_money_in_safe_rot_acc_0.025: 0.0244, per_task/put_money_in_safe_rot_acc_0.05: 0.5610, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.0244, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5610, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0039, per_task/reach_and_drag_quat_l1_err: 0.3444, per_task/reach_and_drag_quat_l1_ideal_err: 0.3444, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2558, per_task/reach_and_drag_rot_acc_0.05: 0.4651, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2558, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4651, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0067, per_task/slide_block_to_color_target_quat_l1_err: 0.3896, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.3896, per_task/slide_block_to_color_target_pos_acc_0.01: 0.8788, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2727, per_task/slide_block_to_color_target_rot_acc_0.05: 0.5152, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2727, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.5152, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0047, per_task/stack_blocks_quat_l1_err: 0.3519, per_task/stack_blocks_quat_l1_ideal_err: 0.3519, per_task/stack_blocks_pos_acc_0.01: 0.9521, per_task/stack_blocks_rot_acc_0.025: 0.5685, per_task/stack_blocks_rot_acc_0.05: 0.6507, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5685, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6507, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0048, per_task/stack_cups_quat_l1_err: 0.2032, per_task/stack_cups_quat_l1_ideal_err: 0.2032, per_task/stack_cups_pos_acc_0.01: 0.9390, per_task/stack_cups_rot_acc_0.025: 0.3780, per_task/stack_cups_rot_acc_0.05: 0.6463, per_task/stack_cups_rot_ideal_acc_0.025: 0.3780, per_task/stack_cups_rot_ideal_acc_0.05: 0.6463, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0167, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.2441, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.2441, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9310, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7586, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7586, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7586, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7586, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0049, per_task/turn_tap_quat_l1_err: 1.7350, per_task/turn_tap_quat_l1_ideal_err: 1.7350, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 17:00:15 - INFO - __main__ - =============================================== +04/29/2025 17:02:56 - INFO - __main__ - ==============Epoch 799 Step 95200=============== +04/29/2025 17:02:56 - INFO - __main__ - loss_pos:0.0990, loss_rot:0.1730, loss_open:0.0019, loss_total:2.1559 +04/29/2025 17:02:56 - INFO - __main__ - =============================================== +04/29/2025 17:03:14 - INFO - __main__ - =================Validation================= +04/29/2025 17:03:14 - INFO - __main__ - total/pos_l2_err: 0.0059, total/quat_l1_err: 0.4026, total/quat_l1_ideal_err: 0.4078, total/open_acc: 1.0000, total/open_acc_ideal: 1.0000, total/pos_acc_0.01: 0.9316, total/rot_acc_0.025: 0.4260, total/rot_acc_0.05: 0.6004, total/rot_ideal_acc_0.025: 0.4260, total/rot_ideal_acc_0.05: 0.6004, per_task/close_jar_pos_l2_err: 0.0047, per_task/close_jar_quat_l1_err: 0.1517, per_task/close_jar_quat_l1_ideal_err: 0.1517, per_task/close_jar_pos_acc_0.01: 0.9565, per_task/close_jar_rot_acc_0.025: 0.7391, per_task/close_jar_rot_acc_0.05: 0.8261, per_task/close_jar_rot_ideal_acc_0.025: 0.7391, per_task/close_jar_rot_ideal_acc_0.05: 0.8261, per_task/close_jar_open_acc: 1.0000, per_task/close_jar_open_acc_ideal: 1.0000, per_task/insert_onto_square_peg_pos_l2_err: 0.0049, per_task/insert_onto_square_peg_quat_l1_err: 0.4503, per_task/insert_onto_square_peg_quat_l1_ideal_err: 0.4503, per_task/insert_onto_square_peg_pos_acc_0.01: 0.9444, per_task/insert_onto_square_peg_rot_acc_0.025: 0.5556, per_task/insert_onto_square_peg_rot_acc_0.05: 0.6667, per_task/insert_onto_square_peg_rot_ideal_acc_0.025: 0.5556, per_task/insert_onto_square_peg_rot_ideal_acc_0.05: 0.6667, per_task/insert_onto_square_peg_open_acc: 1.0000, per_task/insert_onto_square_peg_open_acc_ideal: 1.0000, per_task/light_bulb_in_pos_l2_err: 0.0040, per_task/light_bulb_in_quat_l1_err: 0.5099, per_task/light_bulb_in_quat_l1_ideal_err: 0.5099, per_task/light_bulb_in_pos_acc_0.01: 0.9487, per_task/light_bulb_in_rot_acc_0.025: 0.5385, per_task/light_bulb_in_rot_acc_0.05: 0.5897, per_task/light_bulb_in_rot_ideal_acc_0.025: 0.5385, per_task/light_bulb_in_rot_ideal_acc_0.05: 0.5897, per_task/light_bulb_in_open_acc: 1.0000, per_task/light_bulb_in_open_acc_ideal: 1.0000, per_task/meat_off_grill_pos_l2_err: 0.0036, per_task/meat_off_grill_quat_l1_err: 0.5376, per_task/meat_off_grill_quat_l1_ideal_err: 0.5376, per_task/meat_off_grill_pos_acc_0.01: 1.0000, per_task/meat_off_grill_rot_acc_0.025: 0.4667, per_task/meat_off_grill_rot_acc_0.05: 0.5333, per_task/meat_off_grill_rot_ideal_acc_0.025: 0.4667, per_task/meat_off_grill_rot_ideal_acc_0.05: 0.5333, per_task/meat_off_grill_open_acc: 1.0000, per_task/meat_off_grill_open_acc_ideal: 1.0000, per_task/open_drawer_pos_l2_err: 0.0035, per_task/open_drawer_quat_l1_err: 0.7137, per_task/open_drawer_quat_l1_ideal_err: 0.7137, per_task/open_drawer_pos_acc_0.01: 1.0000, per_task/open_drawer_rot_acc_0.025: 0.4000, per_task/open_drawer_rot_acc_0.05: 0.7000, per_task/open_drawer_rot_ideal_acc_0.025: 0.4000, per_task/open_drawer_rot_ideal_acc_0.05: 0.7000, per_task/open_drawer_open_acc: 1.0000, per_task/open_drawer_open_acc_ideal: 1.0000, per_task/place_cups_pos_l2_err: 0.0043, per_task/place_cups_quat_l1_err: 0.5147, per_task/place_cups_quat_l1_ideal_err: 0.5147, per_task/place_cups_pos_acc_0.01: 0.9672, per_task/place_cups_rot_acc_0.025: 0.1311, per_task/place_cups_rot_acc_0.05: 0.5902, per_task/place_cups_rot_ideal_acc_0.025: 0.1311, per_task/place_cups_rot_ideal_acc_0.05: 0.5902, per_task/place_cups_open_acc: 1.0000, per_task/place_cups_open_acc_ideal: 1.0000, per_task/place_shape_in_shape_sorter_pos_l2_err: 0.0058, per_task/place_shape_in_shape_sorter_quat_l1_err: 0.3772, per_task/place_shape_in_shape_sorter_quat_l1_ideal_err: 0.3741, per_task/place_shape_in_shape_sorter_pos_acc_0.01: 0.9474, per_task/place_shape_in_shape_sorter_rot_acc_0.025: 0.4737, per_task/place_shape_in_shape_sorter_rot_acc_0.05: 0.6842, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.025: 0.4737, per_task/place_shape_in_shape_sorter_rot_ideal_acc_0.05: 0.6842, per_task/place_shape_in_shape_sorter_open_acc: 1.0000, per_task/place_shape_in_shape_sorter_open_acc_ideal: 1.0000, per_task/place_wine_at_rack_location_pos_l2_err: 0.0052, per_task/place_wine_at_rack_location_quat_l1_err: 0.4985, per_task/place_wine_at_rack_location_quat_l1_ideal_err: 0.5820, per_task/place_wine_at_rack_location_pos_acc_0.01: 0.9310, per_task/place_wine_at_rack_location_rot_acc_0.025: 0.3103, per_task/place_wine_at_rack_location_rot_acc_0.05: 0.4138, per_task/place_wine_at_rack_location_rot_ideal_acc_0.025: 0.3103, per_task/place_wine_at_rack_location_rot_ideal_acc_0.05: 0.4138, per_task/place_wine_at_rack_location_open_acc: 1.0000, per_task/place_wine_at_rack_location_open_acc_ideal: 1.0000, per_task/push_buttons_pos_l2_err: 0.0071, per_task/push_buttons_quat_l1_err: 0.0263, per_task/push_buttons_quat_l1_ideal_err: 0.0263, per_task/push_buttons_pos_acc_0.01: 0.7000, per_task/push_buttons_rot_acc_0.025: 0.8000, per_task/push_buttons_rot_acc_0.05: 0.8000, per_task/push_buttons_rot_ideal_acc_0.025: 0.8000, per_task/push_buttons_rot_ideal_acc_0.05: 0.8000, per_task/push_buttons_open_acc: 1.0000, per_task/push_buttons_open_acc_ideal: 1.0000, per_task/put_groceries_in_cupboard_pos_l2_err: 0.0089, per_task/put_groceries_in_cupboard_quat_l1_err: 0.4009, per_task/put_groceries_in_cupboard_quat_l1_ideal_err: 0.4009, per_task/put_groceries_in_cupboard_pos_acc_0.01: 0.6250, per_task/put_groceries_in_cupboard_rot_acc_0.025: 0.3125, per_task/put_groceries_in_cupboard_rot_acc_0.05: 0.6250, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.025: 0.3125, per_task/put_groceries_in_cupboard_rot_ideal_acc_0.05: 0.6250, per_task/put_groceries_in_cupboard_open_acc: 1.0000, per_task/put_groceries_in_cupboard_open_acc_ideal: 1.0000, per_task/put_item_in_drawer_pos_l2_err: 0.0056, per_task/put_item_in_drawer_quat_l1_err: 0.6012, per_task/put_item_in_drawer_quat_l1_ideal_err: 0.6012, per_task/put_item_in_drawer_pos_acc_0.01: 0.9697, per_task/put_item_in_drawer_rot_acc_0.025: 0.3030, per_task/put_item_in_drawer_rot_acc_0.05: 0.4848, per_task/put_item_in_drawer_rot_ideal_acc_0.025: 0.3030, per_task/put_item_in_drawer_rot_ideal_acc_0.05: 0.4848, per_task/put_item_in_drawer_open_acc: 1.0000, per_task/put_item_in_drawer_open_acc_ideal: 1.0000, per_task/put_money_in_safe_pos_l2_err: 0.0053, per_task/put_money_in_safe_quat_l1_err: 0.1064, per_task/put_money_in_safe_quat_l1_ideal_err: 0.1064, per_task/put_money_in_safe_pos_acc_0.01: 0.8400, per_task/put_money_in_safe_rot_acc_0.025: 0.1600, per_task/put_money_in_safe_rot_acc_0.05: 0.5600, per_task/put_money_in_safe_rot_ideal_acc_0.025: 0.1600, per_task/put_money_in_safe_rot_ideal_acc_0.05: 0.5600, per_task/put_money_in_safe_open_acc: 1.0000, per_task/put_money_in_safe_open_acc_ideal: 1.0000, per_task/reach_and_drag_pos_l2_err: 0.0047, per_task/reach_and_drag_quat_l1_err: 0.3996, per_task/reach_and_drag_quat_l1_ideal_err: 0.3996, per_task/reach_and_drag_pos_acc_0.01: 1.0000, per_task/reach_and_drag_rot_acc_0.025: 0.2500, per_task/reach_and_drag_rot_acc_0.05: 0.4375, per_task/reach_and_drag_rot_ideal_acc_0.025: 0.2500, per_task/reach_and_drag_rot_ideal_acc_0.05: 0.4375, per_task/reach_and_drag_open_acc: 1.0000, per_task/reach_and_drag_open_acc_ideal: 1.0000, per_task/slide_block_to_color_target_pos_l2_err: 0.0053, per_task/slide_block_to_color_target_quat_l1_err: 0.5534, per_task/slide_block_to_color_target_quat_l1_ideal_err: 0.5534, per_task/slide_block_to_color_target_pos_acc_0.01: 1.0000, per_task/slide_block_to_color_target_rot_acc_0.025: 0.2500, per_task/slide_block_to_color_target_rot_acc_0.05: 0.4167, per_task/slide_block_to_color_target_rot_ideal_acc_0.025: 0.2500, per_task/slide_block_to_color_target_rot_ideal_acc_0.05: 0.4167, per_task/slide_block_to_color_target_open_acc: 1.0000, per_task/slide_block_to_color_target_open_acc_ideal: 1.0000, per_task/stack_blocks_pos_l2_err: 0.0049, per_task/stack_blocks_quat_l1_err: 0.2860, per_task/stack_blocks_quat_l1_ideal_err: 0.2860, per_task/stack_blocks_pos_acc_0.01: 0.9615, per_task/stack_blocks_rot_acc_0.025: 0.5769, per_task/stack_blocks_rot_acc_0.05: 0.6346, per_task/stack_blocks_rot_ideal_acc_0.025: 0.5769, per_task/stack_blocks_rot_ideal_acc_0.05: 0.6346, per_task/stack_blocks_open_acc: 1.0000, per_task/stack_blocks_open_acc_ideal: 1.0000, per_task/stack_cups_pos_l2_err: 0.0064, per_task/stack_cups_quat_l1_err: 0.1307, per_task/stack_cups_quat_l1_ideal_err: 0.1307, per_task/stack_cups_pos_acc_0.01: 0.8864, per_task/stack_cups_rot_acc_0.025: 0.6136, per_task/stack_cups_rot_acc_0.05: 0.6591, per_task/stack_cups_rot_ideal_acc_0.025: 0.6136, per_task/stack_cups_rot_ideal_acc_0.05: 0.6591, per_task/stack_cups_open_acc: 1.0000, per_task/stack_cups_open_acc_ideal: 1.0000, per_task/sweep_to_dustpan_of_size_pos_l2_err: 0.0252, per_task/sweep_to_dustpan_of_size_quat_l1_err: 0.3232, per_task/sweep_to_dustpan_of_size_quat_l1_ideal_err: 0.3232, per_task/sweep_to_dustpan_of_size_pos_acc_0.01: 0.9412, per_task/sweep_to_dustpan_of_size_rot_acc_0.025: 0.7647, per_task/sweep_to_dustpan_of_size_rot_acc_0.05: 0.7647, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.025: 0.7647, per_task/sweep_to_dustpan_of_size_rot_ideal_acc_0.05: 0.7647, per_task/sweep_to_dustpan_of_size_open_acc: 1.0000, per_task/sweep_to_dustpan_of_size_open_acc_ideal: 1.0000, per_task/turn_tap_pos_l2_err: 0.0044, per_task/turn_tap_quat_l1_err: 1.8022, per_task/turn_tap_quat_l1_ideal_err: 1.8022, per_task/turn_tap_pos_acc_0.01: 1.0000, per_task/turn_tap_rot_acc_0.025: 0.0000, per_task/turn_tap_rot_acc_0.05: 0.0000, per_task/turn_tap_rot_ideal_acc_0.025: 0.0000, per_task/turn_tap_rot_ideal_acc_0.05: 0.0000, per_task/turn_tap_open_acc: 1.0000, per_task/turn_tap_open_acc_ideal: 1.0000 +04/29/2025 17:03:14 - INFO - __main__ - ===============================================